Optimal control of a Two-Mass Skate bicycle without steering

Giacomo Perantoni, David J.N. Limebeer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Until recently it was believed that the ability of riderless bicycles to remain upright derives from a combination of the gyroscopic precession of the front wheel and the trail designed into the steering geometry. As it turns out neither influence is necessary for straight-running stability. It is also believed that rider steering torque and/or a roll moment applied to the main frame are required for steering. We show that this long-standing belief is also untrue. All the optimal-control calculations presented are computed off-line.

Original languageEnglish
Title of host publicationProceedings - 2013 IEEE International Conference on Industrial Technology, ICIT 2013
Pages134-139
Number of pages6
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2013 IEEE International Conference on Industrial Technology, ICIT 2013 - Cape Town, South Africa
Duration: 25 Feb 201328 Feb 2013

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Conference

Conference2013 IEEE International Conference on Industrial Technology, ICIT 2013
Country/TerritorySouth Africa
CityCape Town
Period25/02/1328/02/13

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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