Optimization and Systems Theory Seminar
Tuesday, March 3 2009, 14.00, Room 3721, Lindstedtsvägen 25

Per Olof Gutman, Technion Israel Institute of Technology
E-mail: peo@techunix.technion.ac.il

Robust stabilization of an unmanned motorcycle

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.

Calendar of seminars Last update: February 23, 2009 by Marie Lundin.