Authors:
João Sequeira
and
Marco di Vittori
Affiliation:
Technical University of Lisbon, Portugal
Keyword(s):
Kinematics, Dynamics, PID Control, MPC Control, Nonlinear Control.
Related
Ontology
Subjects/Areas/Topics:
Autonomous Agents
;
Control and Supervision Systems
;
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
;
Vehicle Control Applications
Abstract:
This paper surveys the kinematics of bikes and details the construction of a dynamics model for a motorbike using the Lagrangian approach. Using data from a typical sports motorbike, a dynamics model is obtained by symbolic computation. This model, of high algebraic complexity, is then wrapped as a function and used for control purposes. Control strategies based on PID, MPC, and nonlinear control are discussed and simulation results for each of them are presented.