Horváth, Hanna Zsófia and Takács, Dénes (2024) Stabilizing E-scooters at Zero Speed with Feedback Control. In: 18th IFAC Workshop on Time Delay Systems, 2024.09.24-2024.09.27, Udine.
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Abstract
The dynamics of electric scooters is analyzed via a spatial mechanical model. The e-scooter is balanced at zero speed, by applying internal driving torque to the front wheel. A hierarchical, linear state feedback controller is designed with feedback delay. The linear stability charts of the delayed controller are constructed with semi-discretization. The effects of the feedback delay and the center of gravity position of the handlebar on the linear stability are investigated. The performance of the control algorithm is tested by numerical simulations with the nonlinear governing equations.
| Item Type: | Conference or Workshop Item (Paper) |
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| Uncontrolled Keywords: | Electric scooter, Nonlinear dynamics, Stability, Control of nonlinear systems, Feedback delay, Numerical simulation |
| Subjects: | T Technology / alkalmazott, műszaki tudományok > TL Motor vehicles. Aeronautics. Astronautics / járműtechnika, repülés, űrhajózás |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 25 Feb 2025 09:55 |
| Last Modified: | 25 Feb 2025 11:47 |
| URI: | https://real.mtak.hu/id/eprint/216009 |
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