Trajectory tracking and balance stabilization control of autonomous motorcycles Conference Paper

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

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

authors

• Song, Dezhen

published proceedings

• 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10

author list (cited authors)

• Yi, J., Song, D., Levandowski, A., & Jayasuriya, S.

citation count

• 69

complete list of authors

• Yi, Jingang||Song, Dezhen||Levandowski, Anthony||Jayasuriya, Suhada

publication date

• January 2006

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE International Conference on Robotics and Automation  Journal

Digital Object Identifier (DOI)

• 10.1109/ROBOT.2006.1642091

International Standard Book Number (ISBN) 10

• 0-7803-9505-0

International Standard Book Number (ISBN) 13

• 9780780395060

start page

• 2583

end page

• +

volume

• 2006

URL

• http://dx.doi.org/10.1109/robot.2006.1642091