@inproceedings{24a21a9fa8f04ae2a59dece95e2578d6,
title = "Dynamics and path-tracking control of an unmanned bicycle",
abstract = "Due to its non-holonomic constraints and its highly unstable nature, the unmanned bicycle is difficult to be controlled for tracking a target path while retaining balance. As a result of the non-holonomic constraint conditions, the instantaneous velocity of the vehicle is limited to certain directions. Constraints of this kind occur under the no-slip condition. In this paper, the equations of motion describing the motions of the bicycle are developed using Lagrange's equations for quasi-coordinates. Pure rolling without slip constraints between the ground and the two wheels are also considered in this model. Based on the developed equations of motion, two strategies for path-tracking control of an unmanned bicycle are proposed, compared and discussed.",
keywords = "Bicycle dynamics, Fuzzy control, Multibody systems, Non-holonomic, Path-tracking",
author = "Chen, \{Chih Keng\} and Dao, \{Thanh Son\}",
year = "2005",
doi = "10.1115/detc2005-84107",
language = "???core.languages.en\_GB???",
isbn = "0791847438",
series = "Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005",
publisher = "American Society of Mechanical Engineers",
pages = "2245--2254",
booktitle = "Proc. of the ASME Int. Des. Eng. Tech. Conf. and Comput. and Information in Engineering Conferences - DETC2005",
note = "DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference ; Conference date: 24-09-2005 Through 28-09-2005",
}