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

Author

Yi, Jingang ; Zhang, Yizhai ; Song, Dezhen

Author_Institution

Dept. of Mech. & Aerosp. Eng., Rutgers Univ., Piscataway, NJ, USA

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

4619

Lastpage

4624

Abstract

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 for a given desired trajectory. The effectiveness of the integrated control systems are demonstrated and validated by numerical examples based on a racing motorcycle prototype.

Keywords

control system synthesis; mobile robots; motorcycles; nonlinear control systems; position control; remotely operated vehicles; time-varying systems; agile maneuvers; autonomous motorcycle dynamics; control systems design; external-internal convertible dynamical structure; nonlinear control design; trajectory tracking; Aerodynamics; Bicycles; Control design; Control system synthesis; Control systems; Motorcycles; Nonlinear dynamical systems; Trajectory; Vehicle dynamics; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5399525

Filename

5399525