Modelling and control of the motion of an autonomous bicycle: Effect of motor dynamics on the dynamical model (Q2731043)

The paper deals with the modelling and control of the motion of a riderless bicycle. It is assumed here that the bicycle is controlled by a pedalling torque, a directional torque and a rotor mounted on the crossbar that generates a tilting torque. The predalling torque and the directional torque are each generated by a dc-motor. In addition, the rotor's motion is driven by a third dc-motor. The aim of this work (which is an extension of a previous paper by one of the authors) is to obtain a set of dynamic equations of the bicycle's motion that include the motor's dynamics. In this paper, by using two inverse dynamics transformations, a procedure is proposed that enables the design of feedback control laws, or open loop control laws, for the voltages applied to each of the three corresponding dc-motors. Furthermore, this procedure separates the dynamics from the kinematics of the system; and design could be performed directly on the kinematics. Thus one can use linear control for the design of stabilization and guidance laws for steering the motion of the bicycle.