Reduced Dynamics and Control for an Autonomous Bicycle
Jiaming Xiong Bo Li Ruihan Yu Daolin Ma Wei Wang Caishan Liu Jiaming Xiong Bo Li Ruihan Yu Daolin Ma Wei Wang Caishan Liu
In this paper, we propose the reduced model for the full dynamics of a bicycle and analyze its nonlinear behavior under a proportional control law for steering. Based on the Gibbs-Appell equations for the Whipple bicycle, we obtain a second-order nonlinear ordinary differential equation (ODE) that governs the bicycle’s controlled motion. Two types of equilibrium points for the governing equation a...