TY - GEN
T1 - Autonomous motorcycles for agile maneuvers, Part I
T2 - 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
AU - Yi, Jingang
AU - Zhang, Yizhai
AU - Song, Dezhen
PY - 2009
Y1 - 2009
N2 - Single-track vehicles, such as motorcycles, provide an agile mobile platform. Modeling and control of motorcycles for agile maneuvers, such as those by professional racing riders, are challenging due to motorcycle's unstable platform and complex tire/road interaction. As a first step attempting to understand how racing riders drive a motorcycle, this twopart paper presents a modeling and tracking control design of an autonomous motorcycle. In this first-part paper, we discuss a new dynamics model for the autonomous motorcycle. We consider the existence of lateral sliding velocity at each wheel contact point. Because of the importance of the tire/road interaction for vehicle stability and maneuverability, the dynamic modeling scheme also includes the motorcycle tire models. The new nonlinear dynamic models are used for control systems design in the companion paper.
AB - Single-track vehicles, such as motorcycles, provide an agile mobile platform. Modeling and control of motorcycles for agile maneuvers, such as those by professional racing riders, are challenging due to motorcycle's unstable platform and complex tire/road interaction. As a first step attempting to understand how racing riders drive a motorcycle, this twopart paper presents a modeling and tracking control design of an autonomous motorcycle. In this first-part paper, we discuss a new dynamics model for the autonomous motorcycle. We consider the existence of lateral sliding velocity at each wheel contact point. Because of the importance of the tire/road interaction for vehicle stability and maneuverability, the dynamic modeling scheme also includes the motorcycle tire models. The new nonlinear dynamic models are used for control systems design in the companion paper.
UR - http://www.scopus.com/inward/record.url?scp=77950807101&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77950807101&partnerID=8YFLogxK
U2 - 10.1109/CDC.2009.5399495
DO - 10.1109/CDC.2009.5399495
M3 - Conference contribution
AN - SCOPUS:77950807101
SN - 9781424438716
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4613
EP - 4618
BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 15 December 2009 through 18 December 2009
ER -