2002 · 154 citations · 2 references
EngineeringAutonomous SystemsRobotics EngineeringDynamical SystemsRoboticsVehicle DynamicsBalance ControlControl Of Dynamical SystemsControl TheoryKinematicsTrajectory DynamicsVehicle ControlBicycle ModelEquations Of Motion For Underactuated SystemsNonholonomic ControlNonholonomic DynamicsNonholonomic SystemsPath Following DynamicsUnderactuated DynamicsUnderactuated System Control
The control of nonholonomic and underactuated systems with symmetry is illustrated by the problem of controlling a bicycle. We derive a controller which, using steering and rear-wheel torque, causes a model of a riderless bicycle to recover its balance from a near fall as well as converge to a time parameterized path in the ground plane. Our construction utilizes new results for both the derivation of equations of motion for nonholonomic systems with symmetry, as well as the control of underactuated robotic systems.
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Nonholonomic mechanical systems with symmetry
Anthony M. Bloch, P. S. Krishnaprasad, Jerrold E. Marsden et al. · Archive for Rational Mechanics and Analysis · 1996 · 708 citations · Full text