2016/11/11 by B. Shayak, Shayak, B
Engineering · #Control and Dynamics of Mobile Robots #Dynamics and Control of Mechanical Systems #Vehicle Dynamics and Control Systems
paper · pdf · doi:10.48550/arxiv.1611.03857
In this work I will obtain the system of nonlinear equations that correctly describes the motion of motorcycles and fast bicycles (above 30 km/hr) for the first time in literature. I will use it to calculate the lean angle during a turn and prove that the motion of the vehicle is unconditionally stable at all operating speeds under consideration. I will then employ it to give a quantitative model of counter-steering - the phenomenon by which a turning mobike first goes the wrong way and then starts going the right way.