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
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;
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
DOI :
10.1109/RAMECH.2008.4681493
