• Corpus ID: 108242774

Modeling and Control of a Motorbike

  title={Modeling and Control of a Motorbike},
  author={M. Vittori},
The work developed in this thesis explains the construction of both kinematic and dynamic models for a motorcycle, and the design of a control strategy that can command the bike autonomously, under normal driving conditions. All results have been tested in several diverse conditions through a Matlab implementation, in order to validate the model and to obtain information about the motorcycle behavior. The kinematic model builds upon existing models, which do not include some of the aspects… 

Control of An Autonomous Motorbike

The work in this paper aims at developing a control system for an autonomous motorbike using Model Predictive Control (MPC) and Proportional Integral Derivative (PID) control strategies. The

Electric Motorcycle Modeling for Speed Tracking and Range Travelled Estimation

An E-MC model that represents a realistic model of the motorcycle with both kinematics and dynamics of the motorcycles incorporated in the model is developed and it is noted that the distance travelled by the E- MC model can be effectively determined.

Advances in the Modelling of Motorcycle Dynamics

Starting from an existing advanced motorcycle dynamics model, which allows simulation of reasonably general motions and stability, modal and response computations for small perturbations from any

A review on motorcycle and rider modelling for steering control

The paper is a review of the state of knowledge and understanding of steering control in motorcycles and of the existing rider models. Motorcycles are well known to have specific instability

Benchmark results on the linearized equations of motion of an uncontrolled bicycle

In this paper we present the linearized equations of motion for a bicycle as, a benchmark The results obtained by pencil-and-paper and two programs are compaied The bicycle model we consider here

Control of Systems with Friction

This paper reviews several models for friction that have been useful to model friction in motion control systems and to compensate for effects of friction.

Optimal dynamics of constrained multibody systems. Application to bipedal walking synthesis

    S. ChesséG. Bessonnet
    Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
  • 2001
This work takes advantage of the possibility to generate an optimal complete step of a planar biped using Pontryagin's maximum principle and uses the same state equation to describe the dynamics of structure-varying kinematic chains.

Structural properties and classification of kinematic and dynamic models of wheeled mobile robots

The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types,

Feedback Stabilization and Tracking of Constrained Robots

Mathematical models for constrained robot dynamics, incorporating the effects of contact forces required to maintain satisfaction of the constraints, are used to develop explicit conditions for

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The problems associated with the modification of Hamilton’s principle to cover nonholonomic constraints by the application of the multiplier theorem of variational calculus are discussed. The reason

Bicycle Dynamics and Control

General rights Unless other specific re-use rights are stated the following general rights apply: Copyright and moral rights for the publications made accessible in the public portal are retained by


    H. McClamroch and D. Wang. Feedback Stabilization and Tracking of Constrained Robots. IEEE
  • 2006