Autonomous Tracking Control and Inverse Kinematics of Unmanned Electric Bicycle System

摘要

In the former researches [5][6][7] for the unmanned bicycle system, we do focus on stabilizing it by using the lateral motion of mass and suggest a control algorithm for steering angle and driving wheel speed for a given desired path. We also suggest a new algorithm for nonlinear inverse kinematic problem which is similar to Piccard's Iterative method in basic concept. We then propose a tracking control strategy by moving the center of load mass left and right respectively based on the nonlinear compensation-like control studied in the former researches. From the computer simulation results, we can show the effectiveness of the proposed control strategy.