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CDC
2010
IEEE

Control of a bicycle using virtual holonomic constraints

10 years 7 months ago
Control of a bicycle using virtual holonomic constraints
The problem of making a bicycle trace a strictly convex Jordan curve with bounded roll angle and bounded speed is investigated. The problem is solved by enforcing a virtual holonomic constraint which specifies the roll angle of the bicycle as a function of its position along the curve. It is shown that virtual holonomic constraints can be generated as periodic solutions of a scalar periodic differential equation. Finally, it is shown that if the mean curvature of the path is sufficiently small the virtual holonomic constraint can be asymptotically stabilised and the speed of the bicycle is asymptotically periodic.
Luca Consolini, Manfredi Maggiore
Added 13 May 2011
Updated 13 May 2011
Type Journal
Year 2010
Where CDC
Authors Luca Consolini, Manfredi Maggiore
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