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Autonomous motorcycles for agile maneuvers, part II: Control systems design

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3 Author(s)
Jingang Yi ; Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ 08854 USA ; Yizhai Zhang ; Dezhen Song

In this paper, we present trajectory tracking and balancing of autonomous motorcycles for agile maneuvers. Based on the newly developed autonomous motorcycle dynamics in the companion paper, we present a nonlinear control design. The control systems design is based on the external/internal convertible (EIC) dynamical structure of the motorcycle dynamics. The control design of the EIC systems guarantees an exponential convergence of the motorcycle trajectory to a neighborhood of the desired profiles while the roll motion converges to a neighborhood of the desired equilibria that are estimated for a given desired trajectory. The effectiveness of the integrated control systems are demonstrated and validated by numerical examples based on a racing motorcycle prototype.

Published in:

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Date of Conference:

15-18 Dec. 2009