Stabilization of Autonomous Bicycle by an Intelligent Controller

Nowadays, urban traffic jams cause waste of time and air pollution. Bicycle is a convenient alternative as a mean of transportation for being confronted with these problems. However, bicycle is unstable in itself and it will fall down without human assistance like steering handle or moving upper body. It needs practice to ride a bicycle [1]. In this paper, an intelligent controller is proposed, which can stabilize a bicycle with suitable performance for the whole of considered range of disturbance. The original part of controller is consists mainly of a fuzzy controller. Also it is used genetic algorithms and neural networks for optimization and adaptation of scaling factors respectively.

کلیدواژه ها:

Bicycle ، Fuzzy Controller ، Stability ، Genetic Algorithms ، Neural Networks