New Trends in Nonlinear Dynamics and Control and their Applications

Abstract

Controlling a riderless bicycle or motorcycle is a challenging problem because the dynamics are nonlinear and non-minimum phase. Further difficulties are introduced if one desires to decouple the control of the longitudinal and lateral dynamics. In this paper, a control strategy is proposed for driving a motorcycle along a lane, tracking a speed pro.le given as a function of the arc length of the mid lane.