Per Olof Gutman, Technion Israel Institute of Technology
E-mail: peo@techunix.technion.ac.il
Linearized equations of motion for a motorcycle with small roll angles are derived and used to design a robust cascade control scheme that stabilizes the motorcycle ovar a range of speeds.
Stabilization is achieved by measuring the roll angle and its rate of change, and controlling the steering torque. The approach is validated via simulations and experiments performed with a radio-controlled scooter.