Method for tracking and controlling locus of unmanned bicycle
A trajectory tracking and control method technology, which is applied in vehicle position/route/height control, non-electric variable control, position/direction control, etc., can solve the influence of bicycle trajectory, cannot obtain the best effect, cannot obtain tracking effect, etc. problem, the effect of achieving good results
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[0069] The following describes in detail the trajectory tracking control method of an unmanned bicycle proposed by the present invention with reference to the accompanying drawings.
[0070] The invention uses the model predictive control algorithm to carry out the trajectory tracking control of the bicycle. First, for the bicycle, establish its balance dynamics model, and establish the system state equation after adding the self-balance controller; secondly, establish the bicycle kinematics model and linearize it; then compare the kinematics model with the self-balance control system Combined, after corresponding simplification processing, a seven-dimensional state prediction model is established; finally, the linear quadratic index function is selected, the weight matrix parameters are set, and the optimal control input at each sampling time is solved online. Picture 8 It is a flowchart of the trajectory tracking control method of the unmanned bicycle of the present invention. ...
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