The Study And Control Of Unmanned Bicycle Based On Variable Universe Fuzzy Controller

The unmanned bicycle,which is an unstable under-actuated system,an intelligent vehicle paid attention by the field of robot in recent years,has a great perspective in application.The objective of this article is to study the unmanned bicycle,by analyzing its dynamic model,designing its balance controller,realizing its obstacle avoidance function,developing its control software.The main work of this article is as follows:First,this thesis describes the basic structure of the unmanned bicycle,establishes the kinematics model of the unmanned bicycle system,and then analyzes the controllability,observability,and stability of the unmanned bicycle system,laying the foundation for the design of the subsequent controller basis.Second,a double closed-loop variable gain controller has been designed based on the relevant theory of variable universe fuzzy controller.This controller adjusts the error by variable universe fuzzy controller and then gives the proper control quantity by a variable gain LQR controller to realize the control of the unmanned bicycle system.The experiments of disturbance rejection and trajectory tracking show that the improved controller can greatly improve the control performance of the unmanned bicycle and meet the control requirements of the unmanned bicycle system in complex environment.Thirdly,based on DWA,a plan has been put forward to realize the avoiding obstacles function of unmanned bicycle,and a simulation experiment has been carried out.The simulation shows that the plan makes unmanned bicycle gains the ability of avoiding obstacles.And a switching strategy has been proposed for avoiding obstacles of the unmanned bicycle under trajectory tracking,which makes the unmanned bicycle avoid the obstacles on the expecting track while trajectory tracking,and it has been verified effective by a simulation.Fourth,the control software for the unmanned bicycle system was developed,and the software design scheme and related functions of the software interface were introduced.The software platform provides a friendly control interface,making parameter setting and condition monitoring more convenient.