CaltechAUTHORS
  A Caltech Library Service

Control for an Autonomous Bicycle

Getz, Neil H. and Marsden, J. E. (1995) Control for an Autonomous Bicycle. In: Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Vol.2. Institute of Electrical and Electronics Engineers , Piscataway, NJ, pp. 1397-1402. ISBN 0-7803-1965-6 http://resolver.caltech.edu/CaltechAUTHORS:GETieeeicra95

[img]
Preview
PDF
See Usage Policy.

514Kb

Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechAUTHORS:GETieeeicra95

Abstract

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.


Item Type:Book Section
Additional Information:“© 1995 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.” The authors are grateful to C.A. Desoer for his comments and advice.
Record Number:CaltechAUTHORS:GETieeeicra95
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:GETieeeicra95
Alternative URL:http://dx.doi.org/10.1109/ROBOT.1995.525473
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:536
Collection:CaltechAUTHORS
Deposited By: Archive Administrator
Deposited On:14 Jul 2005
Last Modified:26 Dec 2012 08:40

Repository Staff Only: item control page