Control of balance for a nonlinear nonholonomic non-minimum phase model of a bicycle

24 August 2005

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 1, 148-151
https://doi.org/10.1109/acc.1994.751712

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

BICYCLES
OPEN LOOP SYSTEMS
VEHICLE DYNAMICS
TRAJECTORY
STABILITY ANALYSIS
VELOCITY CONTROL
NONLINEAR EQUATIONS
WHEELS
POWER ENGINEERING COMPUTING
FEEDBACK CONTROL

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