Control for an autonomous bicycle
- 19 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2 (10504729) , 1397-1402 vol.2
- https://doi.org/10.1109/robot.1995.525473
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
This publication has 1 reference indexed in Scilit:
- Control of balance for a nonlinear nonholonomic non-minimum phase model of a bicyclePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005