Title :
Control for an autonomous bicycle
Author :
Getz, Neil H. ; Marsden, Jerrold E.
Author_Institution :
Dept. of Electr. Eng., California Univ., Berkeley, CA, USA
Abstract :
The control of nonholonomic and underactuated systems with symmetry is illustrated by the problem of controlling a bicycle. We derive a controller which, using steering and rear-wheel torque, causes a model of a riderless bicycle to recover its balance from a near fall as well as converge to a time parameterized path in the ground plane. Our construction utilizes new results for both the derivation of equations of motion for nonholonomic systems with symmetry, as well as the control of underactuated robotic systems
Keywords :
mobile robots; autonomous bicycle; nonholonomic systems; rear-wheel torque; riderless bicycle; steering; symmetry; time-parameterized path convergence; underactuated robotic systems; Automatic control; Bicycles; Equations; Force control; Land vehicles; Road vehicles; Robotics and automation; Torque; Vehicle dynamics; Wheels;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525473
