Modelling and control of the motion of a riderless bicycle rolling on a moving plane
This work deals with the modelling and control of a riderless bicycle rolling on a moving plane. 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 bicycles motion is derived by using its dynamic model. Then, using this kinematic model, the expressions for the applied torques are obtained.
riderless bicycle moving plane circular rotor plate nonholonomic constraints inverse dynamics control stabilization