Controlador proporcional-integral adaptativo para el ahorro energético en bicicletas autónomas

Abstract

The present paper tackles the problem of the

stability in autonomous bicycles. A conventional

PI controller has been designed for different

values of the system velocity. An adaptive

controller has been designed to optimize the PI

gains at different system velocities to minimize

the energy consumption of the control system

for disturbance rejection. The simulation results

show that the proposed adaptive control

strategy provides notorious energy consumption

saving and guarantees the lateral equilibrium

of the control system in presence of external

disturbances. Finally, a case of study that applies

the proposed control to trajectory tracking using

a dynamics inversion technique is detailed.