Title :
Control of balance for a nonlinear nonholonomic non-minimum phase model of a bicycle
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
fDate :
29 June-1 July 1994
Abstract :
A feedback control law is derived that causes a nonlinear, nonholonomic, nonminimum phase model of a riderless powered two-wheeled bicycle to stably track arbitrary smooth trajectories of roll-angle and non-zero rear-wheel velocity.
Keywords :
dynamics; feedback; motion control; nonlinear control systems; stability; tracking; balance control; feedback control; nonlinear nonholonomic non-minimum phase model; roll-angle; trajectory tracking; two-wheeled bicycle; velocity; Bicycles; Feedback control; Nonlinear equations; Open loop systems; Power engineering computing; Stability analysis; Trajectory; Vehicle dynamics; Velocity control; Wheels;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.751712
