Trajectory tracking and balance stabilization control of autonomous motorcycles Conference Paper uri icon

abstract

  • 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. ©2006 IEEE.

name of conference

  • 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

published proceedings

  • Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

author list (cited authors)

  • Jingang Yi, .., Dezhen Song, .., Levandowski, A., & Jayasuriya, S

citation count

  • 68

complete list of authors

  • Levandowski, A||Jayasuriya, S

publication date

  • January 2006

publisher