Dynamic Modeling and Stability Analysis of Balancing in Riderless Electric Scooters
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866911953366024192 |
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| author | Lin, Yun-Hao Jafari, Alireza Liu, Yen-Chen |
| author_facet | Lin, Yun-Hao Jafari, Alireza Liu, Yen-Chen |
| contents | Today, electric scooter is a trendy personal mobility vehicle. The rising demand and opportunities attract ride-share services. A common problem of such services is abandoned e-scooters. An autonomous e-scooter capable of moving to the charging station is a solution. This paper focuses on maintaining balance for these riderless e-scooters. The paper presents a nonlinear model for an e-scooter moving with simultaneously varying speed and steering. A PD and a feedback-linearized PD controller stabilize the model. The stability analysis shows that the controllers are ultimately bounded even with parameter uncertainties and measurement inaccuracy. Simulations on a realistic e-scooter with a general demanding path to follow verify the ultimate boundedness of the controllers. In addition, the feedback-linearized PD controller outperforms the PD controller because it has narrower ultimate bounds. Future work focuses on experiments using a self-balancing mechanism installed on an e-scooter. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_09078 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Dynamic Modeling and Stability Analysis of Balancing in Riderless Electric Scooters Lin, Yun-Hao Jafari, Alireza Liu, Yen-Chen Systems and Control Today, electric scooter is a trendy personal mobility vehicle. The rising demand and opportunities attract ride-share services. A common problem of such services is abandoned e-scooters. An autonomous e-scooter capable of moving to the charging station is a solution. This paper focuses on maintaining balance for these riderless e-scooters. The paper presents a nonlinear model for an e-scooter moving with simultaneously varying speed and steering. A PD and a feedback-linearized PD controller stabilize the model. The stability analysis shows that the controllers are ultimately bounded even with parameter uncertainties and measurement inaccuracy. Simulations on a realistic e-scooter with a general demanding path to follow verify the ultimate boundedness of the controllers. In addition, the feedback-linearized PD controller outperforms the PD controller because it has narrower ultimate bounds. Future work focuses on experiments using a self-balancing mechanism installed on an e-scooter. |
| title | Dynamic Modeling and Stability Analysis of Balancing in Riderless Electric Scooters |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2407.09078 |