Horváth, Hanna Zsófia and Takács, Dénes (2024) Stability analysis of a hierarchical steering controller with feedback delays for balancing electric scooters in vertical position. In: 11th European Nonlinear Dynamics Conference, ENOC 2024, 2024.07.22-2024.07.26, Delft.
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Abstract
The nonlinear dynamics of electric scooters is investigated using a spatial mechanical model. The nonlinear governing equations are derived with the help of Kane’s method. A hierarchical, linear state feedback controller with two feedback delays is designed in order to balance the e-scooter in a vertical position at zero longitudinal speed. The linear stability charts of the delayed controller are constructed with semi-discretization. The optimal higher level control gains, corresponding to the fastest decay of the solution, are investigated. The performance of the control algorithm is verified by means of numerical simulations.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Subjects: | T Technology / alkalmazott, műszaki tudományok > TA Engineering (General). Civil engineering (General) / általános mérnöki tudományok |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 19 Sep 2024 15:26 |
| Last Modified: | 19 Sep 2024 15:26 |
| URI: | https://real.mtak.hu/id/eprint/205185 |
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