Point-to-point control and set-point regulation by steering in a two-wheeled tilting dynamic model

The article considers two fundamental problems in two-wheeled vehicle controls. First we deal with the problem of how to change a current state to a final one in the state space of the dynamic model. Then, we suggest a control algorithm for tilt set-point regulation. The suggested control algorithms are obtained by using an augmented model which combines the vehicle dynamics with a steering generator model in which the steering is displayed as a state variable. The considered control algorithms for the highly nonlinear nonminimum phase system are accompanied by relevant examples.