Title :
Autonomous motorcycles for agile maneuvers, part II: Control systems design
Author :
Yi, Jingang ; Zhang, Yizhai ; Song, Dezhen
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Rutgers Univ., Piscataway, NJ, USA
Abstract :
In this paper, we present trajectory tracking and balancing of autonomous motorcycles for agile maneuvers. Based on the newly developed autonomous motorcycle dynamics in the companion paper, we present a nonlinear control design. The control systems design is based on the external/internal convertible (EIC) dynamical structure of the motorcycle dynamics. The control design of the EIC systems guarantees an exponential convergence of the motorcycle trajectory to a neighborhood of the desired profiles while the roll motion converges to a neighborhood of the desired equilibria that are estimated for a given desired trajectory. The effectiveness of the integrated control systems are demonstrated and validated by numerical examples based on a racing motorcycle prototype.
Keywords :
control system synthesis; mobile robots; motorcycles; nonlinear control systems; position control; remotely operated vehicles; time-varying systems; agile maneuvers; autonomous motorcycle dynamics; control systems design; external-internal convertible dynamical structure; nonlinear control design; trajectory tracking; Aerodynamics; Bicycles; Control design; Control system synthesis; Control systems; Motorcycles; Nonlinear dynamical systems; Trajectory; Vehicle dynamics; Wheels;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5399525
