DocumentCode
335174
Title
Control of balance for a nonlinear nonholonomic non-minimum phase model of a bicycle
Author
Getz, Neil
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Volume
1
fYear
1994
fDate
29 June-1 July 1994
Firstpage
148
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
dynamics; feedback; motion control; nonlinear control systems; stability; tracking; balance control; feedback control; nonlinear nonholonomic non-minimum phase model; roll-angle; trajectory tracking; two-wheeled bicycle; velocity; Bicycles; Feedback control; Nonlinear equations; Open loop systems; Power engineering computing; Stability analysis; Trajectory; Vehicle dynamics; Velocity control; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1994
Print_ISBN
0-7803-1783-1
Type
conf
DOI
10.1109/ACC.1994.751712
Filename
751712
Link To Document