Abstract
Controlling a riderless bicycle or motorcycle is a challenging problem because the dynamics are nonlinear and non-minimum phase. Further difficulties are introduced if one desires to decouple the control of the longitudinal and lateral dynamics. In this paper, a control strategy is proposed for driving a motorcycle along a lane, tracking a speed pro.le given as a function of the arc length of the mid lane.
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Frezza, R., Beghi, A. Simulating a Motorcycle Driver. In: Kang, W., Borges, C., Xiao, M. (eds) New Trends in Nonlinear Dynamics and Control and their Applications. Lecture Notes in Control and Information Science, vol 295. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45056-6_11
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DOI: https://doi.org/10.1007/978-3-540-45056-6_11
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-40474-3
Online ISBN: 978-3-540-45056-6
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