Autonomous Motorcycles for Agile Maneuvers, Part II: Control Systems Design Conference Paper

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. 2009 IEEE.

name of conference

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

authors

• Song, Dezhen

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

• 19

complete list of authors

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

publication date

• December 2009

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE Conference on Decision and Control  Journal

Digital Object Identifier (DOI)

• 10.1109/cdc.2009.5399525

International Standard Book Number (ISBN) 13

• 9781424438716

start page

• 4619

end page

• 4624

URL

• http://dx.doi.org/10.1109/cdc.2009.5399525