SYSTEMATIC MULTI-LOOP CONTROL FOR AUTONOMOUS BICYCLE PATH FOLLOWING

被引：0

作者：

Bickford, D. ^{[1
]}

Davison, D. E. ^{[1
]}

机构：

[1] Univ Waterloo, Dept Elect & Comp Engn, Waterloo, ON N2L 3G1, Canada

来源：

2013 26TH ANNUAL IEEE CANADIAN CONFERENCE ON ELECTRICAL AND COMPUTER ENGINEERING (CCECE) | 2013年

关键词：

BENCHMARK;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

In this paper the problem of simultaneously stabilizing a bicycle and following a path is investigated. Based on a bicycle model that has been experimentally validated, we develop a systematic multi-loop approach using linear control techniques, treating lean torque and steer torque as the control signals. We prove asymptotic convergence to paths of constant curvature; this result is confirmed with simulations of a bicycle tracking a straight line, a circle, and a path constructed from constant-curvature elements.

引用

页码：231 / 235

页数：5

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