[1] Yabin Y. The derivation of a kinematic model from the dynamic model of the motion of a riderless bicycle[J]. Computers and Mathematics with Applications, 2006, 51(6-7): 865-878. [2] Okawa A, Keo L, Yamakita M. Realization of acrobatic turn via wheelie for a bicycle with a balancer// 2009 IEEE International Conference on Robotics and Automation. Kobe: IEEE Press, 2009: 12-17. [3] Keo L, Yamakita M. Control of an autonomous electric bicycle with both steering and balancer controls[J]. Advanced Robotics, 2011, 25(1-2):1-22. [4] Liu Yanbin, Jia Chenhui, Han Jianhai. Dynamics mo-deling of an unmanned bicycle with parallel mechanism adjusting stability// Proceedings of the 2009 IEEE International Conference on Mechatronics and Automation. Changchun: IEEE Press, 2009: 1601-1605. [5] Getz N H, Marsden J E. Control for an autonomous bicycle// IEEE International Conference on Robotics and Automation. Nagoya: IEEE Press, 1995:1-6. [6] Tanaka Y, Murakami T. Self sustaining bicycle robot with steering controller// The 8th IEEE International Workshop on Advanced Motion Control. Kawasaki: IEEE Press, 2004: 193-197. [7] Sharma H D, Umashankar N. A robotic model (ROBI) of autonomous bicycle system// International Conference on Computational Intelligence for Modelling, Control and Automation. Sydney: , 2006: 107-109. [8] Saguchi T, Takahashi M, Yoshida K. Stable running control of autonomous bicycle robot for trajectory tracking considering the running velocity[J]. Transactions of the Japan Society of Mechanical Engineers(Part C), 2009, 75: 397-403. [9] Zhang Y Z, Yi J G. Dynamic modeling and balance control of human/bicycle systems// 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Montreal: IEEE Press, 2010: 1385-1390. [10] 刘延柱. 自行车的受控运动[J]. 力学与实践, 1995, 17(4): 39-42. Liu Yanzhu. Bicycle controlled movement[J]. Mechanics and Practice, 1995, 17(4): 39-42. [11] 郭磊, 廖启征, 魏世民. 自行车机器人动力学建模与MIMO反馈线性化[J]. 北京邮电大学学报, 2007, 30(1): 80-84. Guo Lei, Liao Qizheng, Wei Shimin. Dynamic modeling of bicycle robot and nonlinear control based on feedback linearization of MIMO systems[J]. Journal of Beijing University of Posts and Telecommunications, 2007, 30(1): 80-84. [12] Isidori A. Nonlinear control systems[M]. Berlin: Springer-Verlag, 1992. |