Balance Control and Analysis of Stationary Riderless Motorcycles
We present balancing control analysis of a stationary riderless motorcycle. We first present the motorcycle dynamics with an accurate steering mechanism model with consideration of lateral movement of the tire/ground contact point. A nonlinear balance controller is then designed. We estimate the domain of attraction (DOA) of motorcycle dynamics under which the stationary motorcycle can be stabilized by steering. For a typical motorcycle/bicycle configuration, we find that the DOA is relatively small and thus balancing control by only steering at stationary is challenging. The balance control and DOA estimation schemes are validated by experiments conducted on the Rutgers autonomous motorcycle. The attitudes of the motorcycle platform are obtained by a novel estimation scheme that fuses measurements from global positioning systems (GPS) and inertial measurement units (IMU). We also present the experiments of the GPS/IMU-based attitude estimation scheme in the paper.
Yizhai Zhang Jingliang Li Jingang Yi Dezhen Song
Department of Mechanical and Aerospace Engineering,Rutgers University,Piscataway,NJ 08854 USA School of Mechanical and Vehicular Engineering,Beijing Institute of Technology,Beijing 100081,P. R. Department of Computer Science and Engineering,Texas A&M University,College Station,TX 77843 USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3018-3023
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）