Navigation and control of the motion of a back wheel drive tricycle

This work deals with the guidance and control of the motion of a back wheel drive tricycle. Denote by O the center of mass of the tricycle. Given N points Pi, i = 0,…, N − 1 in the horizontal plane, a finite time interval [0, tf], and a sequence of times τ0 = 0 < τ1 < … < τN −1 = tf. Based on a dynamical model of the tricycle, and by using the concept of path controllability, control laws are derived for the tricycleʹs pedalling moment and directional moment such that O will pass through pj at the time τj, j = 0,…, N − 1, respectively.