Two-Wheeled Uniaxial Vehicle Dynamic and Control Analysis and Set-point Tracking

This paper aims to study dynamic analysis and controlling in two-wheeled uniaxial vehicles. First, Kain’s method is applied to extract dynamic equations on ramp. Moreover, analyzing statistical information helped to select nominal features of passenger for the study. Then, LQR - an optimization control method - is exploited to examine the vehicle’s stabilizing. In the next step, robustness of this controller is examined to find out how changes in the features of passenger and road impact the vehicle. Finally, the controller is used for set point tracking and velocity tracking.

کلیدواژه ها:

Kane’s dynamic ، optimization control method ، robustness