Improving Energy Efficiency of an Autonomous Bicycle with Adaptive Controller Design

David Rodriguez-Rosa, Ismael Payo-Gutierrez, Fernando J. Castillo-Garcia, Antonio Gonzalez-Rodriguez and Sergio Perez-Juarez
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David Rodriguez-Rosa: School of Industrial Engineering, University of Castilla-La Mancha, Toledo 45071, Spain
Ismael Payo-Gutierrez: School of Industrial Engineering, University of Castilla-La Mancha, Toledo 45071, Spain
Fernando J. Castillo-Garcia: School of Industrial Engineering, University of Castilla-La Mancha, Toledo 45071, Spain
Antonio Gonzalez-Rodriguez: School of Industrial Engineering, University of Castilla-La Mancha, Ciudad Real 13071, Spain
Sergio Perez-Juarez: School of Industrial Engineering, University of Castilla-La Mancha, Toledo 45071, Spain

Sustainability, 2017, vol. 9, issue 5, 1-16

Abstract: A method is proposed to achieve lateral stability of an autonomous bicycle with only the rotation of the front wheel. This can be achieved with a classic controller. However, if the energy consumption of the bicycle also has to be minimized, this solution is not valid. To solve this problem, an adaptive controller has been designed, which modifies its gains according to the bicycle’s forward velocity, adapting its response with minimum energy consumption and satisfying the design specifications. The study demonstrates the efficiency of the proposed control, achieving an energy saving of 73 . 8 % in trajectory tracking with respect to a conventional proportional-integral ( P I ) controller. These results show the importance of designing energy-efficient controllers, not only for autonomous vehicles but also for any automatic system where the energy consumption can be minimized.

Keywords: adaptive control; energy efficiency; autonomous vehicle; electric bicycle (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2017
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