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2009
IEEE

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

11 years 10 months ago
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.
Jingang Yi, Yizhai Zhang, Dezhen Song
Added 21 Jul 2010
Updated 21 Jul 2010
Type Conference
Year 2009
Where CDC
Authors Jingang Yi, Yizhai Zhang, Dezhen Song
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