Balance control and analysis of stationary riderless motorcycles

  title={Balance control and analysis of stationary riderless motorcycles},
  author={Yizhai Zhang and Jingliang Li and Jingang Yi and Dezhen Song},
  journal={2011 IEEE International Conference on Robotics and Automation},
We present balancing control analysis of a stationary riderless motorcycle. We first present the motorcycle dynamics with an accurate steering mechanism model with consideration of lateral movement of the tire/ground contact point. A nonlinear balance controller is then designed. We estimate the domain of attraction (DOA) of motorcycle dynamics under which… CONTINUE READING