TY - GEN
T1 - Balance control and analysis of stationary riderless motorcycles
AU - Zhang, Yizhai
AU - Li, Jingliang
AU - Yi, Jingang
AU - Song, Dezhen
PY - 2011
Y1 - 2011
N2 - We present balancing control analysis of a stationary riderless motorcycle. We first present the motorcycle dynamics with an accurate steering mechanism model with consideration of lateral movement of the tire/ground contact point. A nonlinear balance controller is then designed. We estimate the domain of attraction (DOA) of motorcycle dynamics under which the stationary motorcycle can be stabilized by steering. For a typical motorcycle/bicycle configuration, we find that the DOA is relatively small and thus balancing control by only steering at stationary is challenging. The balance control and DOA estimation schemes are validated by experiments conducted on the Rutgers autonomous motorcycle. The attitudes of the motorcycle platform are obtained by a novel estimation scheme that fuses measurements from global positioning systems (GPS) and inertial measurement units (IMU). We also present the experiments of the GPS/IMU-based attitude estimation scheme in the paper.
AB - We present balancing control analysis of a stationary riderless motorcycle. We first present the motorcycle dynamics with an accurate steering mechanism model with consideration of lateral movement of the tire/ground contact point. A nonlinear balance controller is then designed. We estimate the domain of attraction (DOA) of motorcycle dynamics under which the stationary motorcycle can be stabilized by steering. For a typical motorcycle/bicycle configuration, we find that the DOA is relatively small and thus balancing control by only steering at stationary is challenging. The balance control and DOA estimation schemes are validated by experiments conducted on the Rutgers autonomous motorcycle. The attitudes of the motorcycle platform are obtained by a novel estimation scheme that fuses measurements from global positioning systems (GPS) and inertial measurement units (IMU). We also present the experiments of the GPS/IMU-based attitude estimation scheme in the paper.
UR - http://www.scopus.com/inward/record.url?scp=84866939445&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84866939445&partnerID=8YFLogxK
U2 - https://doi.org/10.1109/ICRA.2011.5979841
DO - https://doi.org/10.1109/ICRA.2011.5979841
M3 - Conference contribution
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3018
EP - 3023
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -