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. https://resolver.caltech.edu/CaltechAUTHORS:GETieeeicra95
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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 | ||||||
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| 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. | ||||||
| DOI: | 10.1109/ROBOT.1995.525473 | ||||||
| Record Number: | CaltechAUTHORS:GETieeeicra95 | ||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:GETieeeicra95 | ||||||
| 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: | 08 Nov 2021 19:03 |
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