DocumentCode
3416703
Title
Control for an autonomous bicycle
Author
Getz, Neil H. ; Marsden, Jerrold E.
Author_Institution
Dept. of Electr. Eng., California Univ., Berkeley, CA, USA
Volume
2
fYear
1995
fDate
21-27 May 1995
Firstpage
1397
Abstract
The control of nonholonomic and underactuated systems with symmetry is illustrated by the problem of controlling a bicycle. We derive a controller which, using steering and rear-wheel torque, causes a model of a riderless bicycle to recover its balance from a near fall as well as converge to a time parameterized path in the ground plane. Our construction utilizes new results for both the derivation of equations of motion for nonholonomic systems with symmetry, as well as the control of underactuated robotic systems
Keywords
mobile robots; autonomous bicycle; nonholonomic systems; rear-wheel torque; riderless bicycle; steering; symmetry; time-parameterized path convergence; underactuated robotic systems; Automatic control; Bicycles; Equations; Force control; Land vehicles; Road vehicles; Robotics and automation; Torque; Vehicle dynamics; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525473
Filename
525473
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