Modelling and control of the motion of an autonomous bicycle: Effect of motor dynamics on the dynamical model
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.
scientific article; zbMATH DE number 1625462