The derivation of a kinematic model from the dynamic model of the motion of a riderless bicycle
This work deals with the modelling and control of a riderless bicycle (see Figure 1). It is assumed here that the bicycle is controlled by a pedalling torque, a directional torque, and by a rotor mounted on the crossbar that generates a tilting torque. In particular, a kinematic model of the bicycle's motion is derived by using its dynamic model. Then, using this kinematic model, a constraint point-to-point control problem is dealt with. (C) 2006 Elsevier Ltd. All rights reserved.
kinematic model riderless bicycle point-to-point control circular rotor plate nonholonomic constraints inverse dynamics control stabilization constraints on the motion