In this paper we address the problem of controlling an autonomous bicycle. We introduce a simple model using Lagrange formalism. Equations of motion will be derived having in mind an extension to a mechanical system composed of rigid bodies. We will neglect tire dynamics adding two nonholonomic constraints to the wheels. We introduce the idea of virtual control of the roll angle and we use a Model Predictive Control strategy to obtain the path following. We have shown a simple bicycle model and reviewed the process of adding nonholonomic constraints to a mechanical system derived using the Lagrange formalism. We have proposed an MPC law for path following based on a virtual input. We solve a suboptimal control problem, virtually driving the vehicle using the roll angle acceleration. Further investigation are needed to prove stability and asymptotic tracking of the given approach. Large number of simulations has shown a good performance even in presence of model variations.
Control of a bicycle using model predictive control strategy
Modellbasierte, vorausschauende Regelung eines Fahrrades
2004
6 Seiten
Aufsatz (Konferenz)
Datenträger
Englisch
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