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Authors: João Sequeira and Marco di Vittori

Affiliation: Technical University of Lisbon, Portugal

Keyword(s): Kinematics, Dynamics, PID Control, MPC Control, Nonlinear Control.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation ; Vehicle Control Applications

Abstract: This paper surveys the kinematics of bikes and details the construction of a dynamics model for a motorbike using the Lagrangian approach. Using data from a typical sports motorbike, a dynamics model is obtained by symbolic computation. This model, of high algebraic complexity, is then wrapped as a function and used for control purposes. Control strategies based on PID, MPC, and nonlinear control are discussed and simulation results for each of them are presented.

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Paper citation in several formats:
Sequeira, J. and di Vittori, M. (2012). Motorbike Modeling and Control. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8; ISSN 2184-2809, pages 249-254. DOI: 10.5220/0004034302490254

@conference{icinco12,
author={João Sequeira. and Marco {di Vittori}.},
title={Motorbike Modeling and Control},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={249-254},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004034302490254},
isbn={978-989-8565-22-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Motorbike Modeling and Control
SN - 978-989-8565-22-8
IS - 2184-2809
AU - Sequeira, J.
AU - di Vittori, M.
PY - 2012
SP - 249
EP - 254
DO - 10.5220/0004034302490254

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