Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle

In the dynamic landscape of autonomous transport, the integration of intelligent transport systems and embedded control technology is pivotal. While strides have been made in the development of autonomous agents and multi-agent systems, the unique challenges posed by two-wheeled vehicles remain larg...

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Autores:
Rodríguez-Rosa, David
Martín-Parra, Andrea
García-Vanegas, Andrés
Moya-Fernández, Francisco
Payo-Gutiérrez, Ismael
Castillo-García, Fernando J.
Tipo de recurso:
Article of investigation
Fecha de publicación:
2024
Institución:
Universidad de Ibagué
Repositorio:
Repositorio Universidad de Ibagué
Idioma:
eng
OAI Identifier:
oai:repositorio.unibague.edu.co:20.500.12313/5901
Acceso en línea:
https://doi.org/10.3390/ technologies12060076
https://hdl.handle.net/20.500.12313/5901
http://mdpi.com/2227-7080/12/6/76
Palabra clave:
Vehículo Eléctrico Autónomo - Equilibrio Vertical
Transporte inteligente
Adaptive control
Intelligent transport
Steering front-wheel angle
Two-wheeled single-track vehicle
Vertical balanc
Rights
openAccess
License
© 2024 by the authors.
id UNIBAGUE2_37c971fc15571c79ecd7e09906191455
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network_name_str Repositorio Universidad de Ibagué
repository_id_str
dc.title.eng.fl_str_mv Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
title Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
spellingShingle Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
Vehículo Eléctrico Autónomo - Equilibrio Vertical
Transporte inteligente
Adaptive control
Intelligent transport
Steering front-wheel angle
Two-wheeled single-track vehicle
Vertical balanc
title_short Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
title_full Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
title_fullStr Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
title_full_unstemmed Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
title_sort Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
dc.creator.fl_str_mv Rodríguez-Rosa, David
Martín-Parra, Andrea
García-Vanegas, Andrés
Moya-Fernández, Francisco
Payo-Gutiérrez, Ismael
Castillo-García, Fernando J.
dc.contributor.author.none.fl_str_mv Rodríguez-Rosa, David
Martín-Parra, Andrea
García-Vanegas, Andrés
Moya-Fernández, Francisco
Payo-Gutiérrez, Ismael
Castillo-García, Fernando J.
dc.subject.armarc.none.fl_str_mv Vehículo Eléctrico Autónomo - Equilibrio Vertical
Transporte inteligente
topic Vehículo Eléctrico Autónomo - Equilibrio Vertical
Transporte inteligente
Adaptive control
Intelligent transport
Steering front-wheel angle
Two-wheeled single-track vehicle
Vertical balanc
dc.subject.proposal.eng.fl_str_mv Adaptive control
Intelligent transport
Steering front-wheel angle
Two-wheeled single-track vehicle
Vertical balanc
description In the dynamic landscape of autonomous transport, the integration of intelligent transport systems and embedded control technology is pivotal. While strides have been made in the development of autonomous agents and multi-agent systems, the unique challenges posed by two-wheeled vehicles remain largely unaddressed. Dedicated control strategies for these vehicles have yet to be developed. The vertical balance of an autonomous two-wheeled single-track vehicle is a challenge for engineering. This type of vehicle is unstable and its dynamic behaviour changes with the forward velocity. We designed a scheduled-gain proportional–integral controller that adapts its gains to the forward velocity, maintaining the vertical balance of the vehicle by means of the steering front-wheel angle. The control law was tested with a prototype designed by the authors under different scenarios, smooth and uneven floors, maintaining the vertical balance in all cases.
publishDate 2024
dc.date.issued.none.fl_str_mv 2024-06
dc.date.accessioned.none.fl_str_mv 2025-11-05T16:47:49Z
dc.date.available.none.fl_str_mv 2025-11-05T16:47:49Z
dc.type.none.fl_str_mv Artículo de revista
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dc.type.content.none.fl_str_mv Text
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dc.identifier.citation.none.fl_str_mv Rodríguez-Rosa, D.; Martín-Parra, A.; García-Vanegas, A.; Moya-Fernández, F.; Payo-Gutiérrez, I.; Castillo-García, F.J. Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle. Technologies 2024, 12, 76. https://doi.org/10.3390/ technologies12060076
dc.identifier.doi.none.fl_str_mv https://doi.org/10.3390/ technologies12060076
dc.identifier.issn.none.fl_str_mv 22277080
dc.identifier.uri.none.fl_str_mv https://hdl.handle.net/20.500.12313/5901
dc.identifier.url.none.fl_str_mv http://mdpi.com/2227-7080/12/6/76
identifier_str_mv Rodríguez-Rosa, D.; Martín-Parra, A.; García-Vanegas, A.; Moya-Fernández, F.; Payo-Gutiérrez, I.; Castillo-García, F.J. Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle. Technologies 2024, 12, 76. https://doi.org/10.3390/ technologies12060076
22277080
url https://doi.org/10.3390/ technologies12060076
https://hdl.handle.net/20.500.12313/5901
http://mdpi.com/2227-7080/12/6/76
dc.language.iso.none.fl_str_mv eng
language eng
dc.relation.citationissue.none.fl_str_mv 6
dc.relation.citationvolume.none.fl_str_mv 12
dc.relation.ispartofjournal.none.fl_str_mv Technologies
dc.relation.references.none.fl_str_mv Xiong, R.; Kim, J.; Shen, W.; Lv, C.; Li, H.; Zhu, X.; Zhao, W.; Gao, B.; Guo, H.; Zhang, C.; et al. Key technologies for electric vehicles. Green Energy Intell. Transp. 2022, l1, 100041
Chen, C.; Xiong, R.; Yang, R.; Li, H. A novel data-driven method for mining battery open-circuit voltage characterization. Green Energy Intell. Transp. 2022, 1, 100001.
Shao, L.; Karci, A.E.H.; Tavernini, D.; Sorniotti, A.; Cheng, M. Design approaches and control strategies for energy-efficient electric machines for electric vehicles—A review. IEEE Access 2020, 8, 116900–116913.
Medaglia, A.; Wilches-Mogollon, M.; Sarmiento, O.; Montes, F.; Guzman, L.; Sanchez-Silva, M.; Menezes, R.; Hidalgo, D.; Parra, K.; Useche, A.; et al. Towards Intelligent Dynamics of an Active Transport System for Biking. R. Acad. Eng. 2022
Stilo, L.; Segura-Velandia, D.; Lugo, H.; Conway, P.P.; West, A.A. Electric bicycles, next generation low carbon transport systems: A survey. Transp. Res. Interdiscip. Perspect. 2021, 10, 100347.
Ma, Y.; Chen, J.; Zhu, X.; Xu, Y. Lateral stability integrated with energy efficiency control for electric vehicles. Mech. Syst. Signal Process. 2019, 127, 1–15
Rodriguez-Rosa, D.; Payo-Gutierrez, I.; Castillo-Garcia, F.J.; Gonzalez-Rodriguez, A.; Perez-Juarez, S. Improving Energy Efficiency of an Autonomous Bicycle with Adaptive Controller Design. Sustainability 2017, 9, 866.
Manrique-Escobar, C.A.; Pappalardo, C.M.; Guida, D. On the analytical and computational methodologies for modelling two-wheeled vehicles within the multibody dynamics framework: A systematic literature review. J. Appl. Comput. Mech. 2022, 8, 153–181.
Ni, T.; Li, W.; Zhao, D.; Kong, Z. Road profile estimation using a 3D sensor and intelligent vehicle. Sensors 2020, 20, 3676.
Wang, D.; Tahmasebi, K.N.; Chen, D. Integrated Control of Steering and Braking for Effective Collision Avoidance with Autonomous Emergency Braking in Automated Driving. In Proceedings of the 2022 30th Mediterranean Conference on Control and Automation (MED), Vouliagmeni, Greece, 28 June–1 July 2022; IEEE: Piscataway, NJ, USA, 2022; pp. 945–950.
Tahir, M.N.; Mäenpää, K.; Sukuvaara, T.; Leviäkangas, P. Deployment and analysis of cooperative intelligent transport system pilot service alerts in real environment. IEEE Open J. Intell. Transp. Syst. 2021, 2, 140–148.
Vu, V.; Warg, F.; Thorsén, A.; Ursing, S.; Sunnerstam, F.; Holler, J.; Bergenhem, C.; Cosmin, I. Minimal Risk Manoeuvre Strategies for Cooperative and Collaborative Automated Vehicles. In Proceedings of the 2023 53rd Annual IEEE/IFIP International Conference on Dependable Systems and Networks Workshops (DSN-W), Porto, Portugal, 27–30 June 2023; IEEE: Piscataway, NJ, USA, 2023; pp. 116–123.
Koenders, E.; Vreeswijk, J. Cooperative infrastructure. In Proceedings of the 2008 IEEE Intelligent Vehicles Symposium, Eindhoven, The Netherlands, 4–6 June 2008; IEEE: Piscataway, NJ, USA, 2008; pp. 721–726.
Malizia, F.; Blocken, B. Bicycle aerodynamics: History, state-of-the-art and future perspectives. J. Wind. Eng. Ind. Aerodyn. 2020, 200, 104134
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Carvallo, E. Théorie du mouvement du monocycle et de la bicyclette. L’Ecole Polytech. 1900.
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publisher.none.fl_str_mv Multidisciplinary Digital Publishing Institute (MDPI)
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spelling Rodríguez-Rosa, David09e0339e-f51f-4f6b-9928-5f716681e474-1Martín-Parra, Andrea13d8d566-d129-4a36-a661-08812beaf08f-1García-Vanegas, Andrés55e6add1-6289-451d-b876-6075af306d1d-1Moya-Fernández, Francisco3a00e092-a4a4-421e-8d1a-14199bfbe0e1-1Payo-Gutiérrez, Ismaelc598ace1-4c6a-43f4-bb74-607fe04d57b5-1Castillo-García, Fernando J.87dace97-7b6e-42e7-8db7-b73f0013bd07-12025-11-05T16:47:49Z2025-11-05T16:47:49Z2024-06In the dynamic landscape of autonomous transport, the integration of intelligent transport systems and embedded control technology is pivotal. While strides have been made in the development of autonomous agents and multi-agent systems, the unique challenges posed by two-wheeled vehicles remain largely unaddressed. Dedicated control strategies for these vehicles have yet to be developed. The vertical balance of an autonomous two-wheeled single-track vehicle is a challenge for engineering. This type of vehicle is unstable and its dynamic behaviour changes with the forward velocity. We designed a scheduled-gain proportional–integral controller that adapts its gains to the forward velocity, maintaining the vertical balance of the vehicle by means of the steering front-wheel angle. The control law was tested with a prototype designed by the authors under different scenarios, smooth and uneven floors, maintaining the vertical balance in all cases.application/pdfRodríguez-Rosa, D.; Martín-Parra, A.; García-Vanegas, A.; Moya-Fernández, F.; Payo-Gutiérrez, I.; Castillo-García, F.J. Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle. Technologies 2024, 12, 76. https://doi.org/10.3390/ technologies12060076https://doi.org/10.3390/ technologies1206007622277080https://hdl.handle.net/20.500.12313/5901http://mdpi.com/2227-7080/12/6/76engMultidisciplinary Digital Publishing Institute (MDPI)Suiza612TechnologiesXiong, R.; Kim, J.; Shen, W.; Lv, C.; Li, H.; Zhu, X.; Zhao, W.; Gao, B.; Guo, H.; Zhang, C.; et al. Key technologies for electric vehicles. Green Energy Intell. Transp. 2022, l1, 100041Chen, C.; Xiong, R.; Yang, R.; Li, H. A novel data-driven method for mining battery open-circuit voltage characterization. Green Energy Intell. Transp. 2022, 1, 100001.Shao, L.; Karci, A.E.H.; Tavernini, D.; Sorniotti, A.; Cheng, M. Design approaches and control strategies for energy-efficient electric machines for electric vehicles—A review. IEEE Access 2020, 8, 116900–116913.Medaglia, A.; Wilches-Mogollon, M.; Sarmiento, O.; Montes, F.; Guzman, L.; Sanchez-Silva, M.; Menezes, R.; Hidalgo, D.; Parra, K.; Useche, A.; et al. Towards Intelligent Dynamics of an Active Transport System for Biking. R. Acad. Eng. 2022Stilo, L.; Segura-Velandia, D.; Lugo, H.; Conway, P.P.; West, A.A. Electric bicycles, next generation low carbon transport systems: A survey. Transp. Res. Interdiscip. Perspect. 2021, 10, 100347.Ma, Y.; Chen, J.; Zhu, X.; Xu, Y. Lateral stability integrated with energy efficiency control for electric vehicles. Mech. Syst. Signal Process. 2019, 127, 1–15Rodriguez-Rosa, D.; Payo-Gutierrez, I.; Castillo-Garcia, F.J.; Gonzalez-Rodriguez, A.; Perez-Juarez, S. Improving Energy Efficiency of an Autonomous Bicycle with Adaptive Controller Design. Sustainability 2017, 9, 866.Manrique-Escobar, C.A.; Pappalardo, C.M.; Guida, D. On the analytical and computational methodologies for modelling two-wheeled vehicles within the multibody dynamics framework: A systematic literature review. J. Appl. Comput. Mech. 2022, 8, 153–181.Ni, T.; Li, W.; Zhao, D.; Kong, Z. Road profile estimation using a 3D sensor and intelligent vehicle. Sensors 2020, 20, 3676.Wang, D.; Tahmasebi, K.N.; Chen, D. Integrated Control of Steering and Braking for Effective Collision Avoidance with Autonomous Emergency Braking in Automated Driving. In Proceedings of the 2022 30th Mediterranean Conference on Control and Automation (MED), Vouliagmeni, Greece, 28 June–1 July 2022; IEEE: Piscataway, NJ, USA, 2022; pp. 945–950.Tahir, M.N.; Mäenpää, K.; Sukuvaara, T.; Leviäkangas, P. Deployment and analysis of cooperative intelligent transport system pilot service alerts in real environment. IEEE Open J. Intell. Transp. Syst. 2021, 2, 140–148.Vu, V.; Warg, F.; Thorsén, A.; Ursing, S.; Sunnerstam, F.; Holler, J.; Bergenhem, C.; Cosmin, I. Minimal Risk Manoeuvre Strategies for Cooperative and Collaborative Automated Vehicles. In Proceedings of the 2023 53rd Annual IEEE/IFIP International Conference on Dependable Systems and Networks Workshops (DSN-W), Porto, Portugal, 27–30 June 2023; IEEE: Piscataway, NJ, USA, 2023; pp. 116–123.Koenders, E.; Vreeswijk, J. Cooperative infrastructure. In Proceedings of the 2008 IEEE Intelligent Vehicles Symposium, Eindhoven, The Netherlands, 4–6 June 2008; IEEE: Piscataway, NJ, USA, 2008; pp. 721–726.Malizia, F.; Blocken, B. Bicycle aerodynamics: History, state-of-the-art and future perspectives. J. Wind. Eng. Ind. Aerodyn. 2020, 200, 104134Meijaard, J.; Papadopoulos, J.M.; Ruina, A.; Schwab, A. Supplementary appendices. Linearized dynamics equations for the balance and steer of a bicycle: A benchmark and review. Proc. R. Soc. Ser. 2007.Whipple, F.J. The stability of the motion of a bicycle. Q. J. Pure Appl. Math. 1899, 30, 312–384.Carvallo, E. Théorie du mouvement du monocycle et de la bicyclette. L’Ecole Polytech. 1900.Boussinesq, J. 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