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The derivation of a kinematic model from the dynamic model of the motion of a riderless bicycle

✍ Scribed by Y. Yavin

Publisher
Elsevier Science
Year
2006
Tongue
English
Weight
684 KB
Volume
51
Category
Article
ISSN
0898-1221

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✦ Synopsis

A b s t r a c t --T h i s work deals with the modelling and control of a riderless bicycle (see Figure 1). It is assumed here that the bicycle is controlled by a pedalling torque, a directional torque, and by a rotor mounted on the crossbar that generates a tilting torque.

In particular, a kinematic model of the bicycle's motion is derived by using its dynamic model. Then, using this kinematic model, a constraint point-to-point control problem is dealt with. (

πŸ“œ SIMILAR VOLUMES

Navigation and control of the motion of
Navigation and control of the motion of a riderless bicycle
✍ Y. Yavin πŸ“‚ Article πŸ“… 1998 πŸ› Elsevier Science 🌐 English βš– 583 KB

This work deals with the guidance and control of a riderless bicycle. Given two points, PI and P,, in the horizontal plane and a finite time interval [0, t,], denote by (xt , yt , ~1) the coordinates of the center of the bicycle's rear wheel. Based on a simplified dynamical model of the bicycle, and