DocumentCode
3485229
Title
Robust Stabilization of an Unmanned Motorcycle
Author
Nenner, Uri ; Linker, Raphael ; Gutman, Per-Olof
Author_Institution
Fac. of Civil & Environ. Eng., Technion - Israel Inst. of Technol., Haifa
fYear
2008
fDate
21-24 Sept. 2008
Firstpage
101
Lastpage
106
Abstract
Linearized equations of motion for a motorcycle with small roll angles are derived and used to design a robust cascade control scheme that stabilizes the motorcycle over a range of speeds. Stabilization is achieved by measuring the roll angle and its rate of change, and controlling the steering torque. The approach is validated via simulations and experiments performed with a radio-controlled scooter.
Keywords
cascade control; motorcycles; remotely operated vehicles; robust control; torque control; motion linearized equations; radio-controlled scooter; robust cascade control scheme; robust stabilization; steering torque control; unmanned motorcycle; Automatic control; Bicycles; Control systems; Equations; Motion control; Motorcycles; Pulse width modulation; Robust control; Robustness; Torque control; cascade control; quantitative feedback theory (QFT); remote operation; robust control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Automation and Mechatronics, 2008 IEEE Conference on
Conference_Location
Chengdu
Print_ISBN
978-1-4244-1675-2
Electronic_ISBN
978-1-4244-1676-9
Type
conf
DOI
10.1109/RAMECH.2008.4681493
Filename
4681493
Link To Document