Autonomous motorcycles for agile maneuvers, part II: Control systems design

— In this paper, we present trajectory tracking and balancing of autonomous motorcycles for agile maneuvers. Based on the newly developed autonomous motorcycle dynamics in the companion paper, we present a nonlinear control design. The control systems design is based on the external/internal convertible (EIC) dynamical structure of the motorcycle dynamics. The control design of the EIC systems guarantees an exponential convergence of the motorcycle trajectory to a neighborhood of the desired profiles while the roll motion converges to a neighborhood of the desired equilibria that are estimated under a given desired trajectory. The effectiveness of the integrated control systems are demonstrated and validated by two numerical examples based on a racing motorcycle prototype.

• Type: Conference
• Year: 2009
• Where: CDC
• Authors: Jingang Yi, Yizhai Zhang, Dezhen Song
• Keywords: Autonomous Motorcycle, CDC 2009, Control Systems, Motorcycle, Motorcycle Dynamics