Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
699967 | Control Engineering Practice | 2010 | 9 Pages |
Abstract
This paper details the design and implementation of a robust controller that stabilizes an unmanned motorcycle. A linearized model and Quantitative Feedback Theory (QFT) are used to derive a low order cascaded controller that stabilizes the motorcycle for velocities ranging from 2.5 to 6.5 m/s. Stabilization is achieved by measuring roll angle and roll rate and controlling the steering torque. The approach is validated through simulations and experiments with a 50cc scooter whose throttle, brakes, and reference roll angle are radio-controlled.
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Authors
Uri Nenner, Raphael Linker, Per-Olof Gutman,