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Modélisation et commande d'un véhicule à deux roues

Abstract : This paper presents the results on the modeling and the control of a two-wheeled prototype, the vehicle named B2, based on the inverted pendulum principle. Its goal is to reduce the problems due to the vehicles in the center of the towns. A Takagi-Sugeno fuzzy model has been developed from the prototype parameters. Some robust PDC control laws, with and without observers were realized in continuous time. A comparison with a linear law and some robustness tests were presented. The results are satisfactory, the B2 is stabilized and the speed follow s the state point given by a joystick.
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https://hal.inria.fr/inria-00122586
Contributor : Michel Parent Connect in order to contact the contributor
Submitted on : Thursday, January 4, 2007 - 3:20:53 PM
Last modification on : Thursday, November 3, 2022 - 11:12:04 AM

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Hélène Tirmant, Laurent Vermeiren, Thierry-Marie Guerra, Alexandre Kruszewski, Michel Null Parent. Modélisation et commande d'un véhicule à deux roues. Journal Européen des Systèmes Automatisés (JESA), 2006, 40 (4-5/2006), pp.535-561. ⟨10.3166/jesa.40.535-561⟩. ⟨inria-00122586⟩

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