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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    Title :

    Robust feedback stabilization of an unmanned motorcycle


    Additional title:

    Robuste Rückkopplungsstabilisierung eines unbemannten Motorrads


    Contributors:

    Published in:

    Publication date :

    2010


    Size :

    9 Seiten




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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