지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 891 - 895 (5page)
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초록· 키워드
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This paper deals with a dynamic modeling and linear control problem for the circular motion of an unmanned bicycle. It is well known that the bicycle control problem is quite complicated and challenging due to its nonlinearities, unstability and nonminimum phase steering behavior. In order to design a linear controller for the bicycle circular motion, a linear bicycle model of circular motion is derived from fully nonlinear differential equations. The first step is to find an equilibrium roll angle and steering angle given the under turning radius and an angular speed of rear wheel relative to a rear frame. Then at the second step, roll and steering control inputs which maintain equilibrium are calculated. Finally the linearized equiations of the circular motion are derived from Lagrange’s equations. Some simulation results on the LQ linear control for the circular motion are demonstrated to show the validity of the proposed approach.
목차
Abstract
1. INTRODUCTION
2. BICYCLE MODELING
3. LINEARIZATION OF CIRCULARMOTION
4. LQ CONTROLLER DESIGN
5. CONCLUSIONS
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000913781