Modelling and control of the motion of an autonomous bicycle: Effect of motor dynamics on the dynamical model
type: Item
instance of: scholarly article
zbMATH Open document ID: 0982.93055
author: P. D. Kemp
author: Y. Yavin
publication date: 2002-04-09T00:00:00Z
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93D15
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 70E60
zbMATH DE Number: 1625462
zbMATH Keywords: riderless bicycle
zbMATH Keywords: inverse dynamics transformations
zbMATH Keywords: dynamics
zbMATH Keywords: kinematics
zbMATH Keywords: stabilization
zbMATH Keywords: guidance
zbMATH Keywords: steering the motion of the bicycle
MaRDI profile type: Publication
title: Modelling and control of the motion of an autonomous bicycle: Effect of motor dynamics on the dynamical model
published in: Dynamics of Continuous, Discrete \& Impulsive Systems. Series B. Applications \& Algorithms
review text: 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.
reviewed by: Bozhidar Cheshankov
description: scientific article; zbMATH DE number 1625462