Autonomous motorcycles for agile maneuvers, part II: Control systems design Conference Paper uri icon


  • 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. ©2009 IEEE.

name of conference

  • 2009 Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC)

published proceedings

  • Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference

author list (cited authors)

  • Yi, J., Zhang, Y., & Song, D

citation count

  • 18

complete list of authors

  • Yi, Jingang||Zhang, Yizhai||Song, Dezhen

publication date

  • December 2009