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:
TP273.5
Modeling and Simulation of Autonomous
Bicycle
Abstract:
Bicycle is an efficient and environment-friendly transport. However, the dynamics of bicycle
is
complicated.
From
the
control
point
of
view,
it
is
an
under
actuated
nonholonomic
system.
The
dynamics of bicycle is relatively complicated, and very susceptible to disturbance from outside, such as
different ground conditions and wind speed, and it is difficult to fully simulate. Thus, the development
of automatic control for driving a bicycle is a challenging theme. This paper presents a dynamic model
of bicycle and designs a steer controller. Simulation is performed to prove the validity of this controller.
Key words:
Autonomous Bicycle; Automatic Control; Stability
0
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