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.
Robust feedback stabilization of an unmanned motorcycle
Robuste Rückkopplungsstabilisierung eines unbemannten Motorrads
Control Engineering Practice ; 18 , 8 ; 970-978
2010
9 Seiten
Article (Journal)
English
Development of an unmanned motorcycle system
British Library Conference Proceedings | 2007
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