A review on bicycle dynamics and rider control
AL Schwab, JP Meijaard - Vehicle system dynamics, 2013 - Taylor & Francis
This paper is a review study in dynamics and rider control of bicycles. The first part gives a
brief overview of the modelling of the dynamics of bicycles and the experimental validation …
brief overview of the modelling of the dynamics of bicycles and the experimental validation …
A review on bicycle and motorcycle rider control with a perspective on handling qualities
JDG Kooijman, AL Schwab - Vehicle system dynamics, 2013 - Taylor & Francis
This paper is a review study on handling and control of bicycles and motorcycles, the so-
called single-track vehicles. The first part gives a brief overview on the modelling of the …
called single-track vehicles. The first part gives a brief overview on the modelling of the …
Underactuated mechanical systems
MW Spong - Control problems in robotics and automation, 2005 - Springer
In this chapter we discuss the control of underactuated mechanical systems. Underactuated
mechanical systems have fewer control inputs than degrees of freedom and arise in …
mechanical systems have fewer control inputs than degrees of freedom and arise in …
Real‐time trajectory generation for differentially flat systems
MJ Van Nieuwstadt, RM Murray - International Journal of …, 1998 - Wiley Online Library
This paper considers the problem of real‐time trajectory generation and tracking for
nonlinear control systems. We employ a two‐degree‐of‐freedom approach that separates …
nonlinear control systems. We employ a two‐degree‐of‐freedom approach that separates …
Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
For pt. I, see ibid., vol. 45, p. 2253-70 (2000). We extend the method of controlled
Lagrangians (CL) to include potential shaping, which achieves complete state-space …
Lagrangians (CL) to include potential shaping, which achieves complete state-space …
Output feedback stabilization of inverted pendulum on a cart in the presence of uncertainties
An output feedback controller is proposed for stabilization of the inverted pendulum on a cart
in the presence of uncertainties. The output feedback controller has a multi-time-scale …
in the presence of uncertainties. The output feedback controller has a multi-time-scale …
The Hamiltonian and Lagrangian approaches to the dynamics of nonholonomic systems
WS Koon, JE Marsden - Reports on Mathematical Physics, 1997 - Elsevier
This paper compares the Hamiltonian approach to systems with nonholonomic constraints
(see [31, 2, 4, 29] and references therein) with the Lagrangian approach (see [16, 27, 9]) …
(see [31, 2, 4, 29] and references therein) with the Lagrangian approach (see [16, 27, 9]) …
Trajectory tracking and balance stabilization control of autonomous motorcycles
We report a new trajectory tracking and balancing control algorithm for an autonomous
motorcycle. Building on the existing modeling work of a bicycle, the new dynamic model of …
motorcycle. Building on the existing modeling work of a bicycle, the new dynamic model of …
Zhang neural network, Getz–Marsden dynamic system, and discrete-time algorithms for time-varying matrix inversion with application to robots' kinematic control
In this paper, we present, develop and investigate a special kind of recurrent neural network
termed Zhang neural network (ZNN) for time-varying matrix inversion. Comparing with the …
termed Zhang neural network (ZNN) for time-varying matrix inversion. Comparing with the …
Gaussian-process-based control of underactuated balance robots with guaranteed performance
The control of underactuated balance robots is aimed at performing both the external
(actuated) subsystem trajectory tracking and internal (unactuated) subsystem balancing …
(actuated) subsystem trajectory tracking and internal (unactuated) subsystem balancing …