Trajectory tracking and balance stabilization control of autonomous motorcycles

We report a new trajectory tracking and balancing control algorithm for an autonomous motorcycle. Building on the existing modeling work of a bicycle, the new dynamic model of the autonomous motorcycle considers the bicycle caster angle and captures the steering effect on the vehicle tracking and balancing. The trajectory tracking control takes an external/internal model decomposition approach. A nonlinear controller is designed to handle the vehicle balancing. The motorcycle balancing is guaranteed by the system internal equilibria calculation and by the trajectory and system dynamics requirements. The proposed control system is validated by numerical simulations, and is based on a real prototype motorcycle system