Control of Balance for a Nonlinear Nonholonomic Non-minimum Phase Model of a Bicycle
نویسندگان
چکیده
A feedback control law is derived that causes a nonlinear, nonholo-nomic, non-minimum phase model of a riderless powered two-wheeled bicycle to stably track arbitrary smooth trajectories of roll-angle and non-zero rear-wheel velocity.
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تاریخ انتشار 1994