Navigation and control of the motion of a riderless bicycle by using a simplified dynamic model

被引：4
|
作者：
Yavin, Y
机构：
[1] Laboratory for Decision and Control, Dept. of Elec. and Electron. Eng., University of Pretoria, Pretoria
来源：
MATHEMATICAL AND COMPUTER MODELLING | 1997年 / 25卷 / 11期
关键词：
riderless bicycle; nonholonomic constraints; path controllability;
D O I：
10.1016/S0895-7177(97)00084-8
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This work deals with the guidance and control of a riderless bicycle (see Figure 1). Given two points P-1 and P-2 in the horizontal plane and a finite time interval [0,t(f)]. Denote by (x(1),y(1),z(1)) the coordinates of the center of the bicycle's rear wheel. Based on a simplified dynamical model of the bicycle, and by using the concept of path controllability, control laws are derived for the bicycle's pedalling moment and directional moment such that (x(1),y(1)) will move from P-1 to P-2 during the time interval [0, t(f)].
引用
收藏
页码：67 / 74
页数：8
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