MATLAB code

Commonly Used Variables

• state: state is an vector with 8 state variables, in order they are, time step, X position, Y position, Lean Angle, Yaw Angle, Steer Angle, Lean Angle Rate, Velocity
• motCommands - this is the same as ${\vec {u}}$ in the control equation, for forward moving balancing, it is steer angle rate $[{\dot {\delta }}]$

MATLAB files

animateBike.m

Inputs:

• state
• p
• motCommands
• delta_offset
• phi_offset

CircleAboutZ.m

Inputs:

• r - radius of the circle

drawBike.m

Inputs:

• x
• y
• z
• yaw
• roll
• steer
• p

rhs.m

• currentState
• p
• K
• delta_offset
• phi_offset

runBicycleTest.m

Inputs:

• x0,y0 - intial location
• v0 - initial speed
• delta0 - intial steer angle
• phi0 - intial lean angle
• phi_dot0 - intial derivative of lean angle
• psi0 - intial yaw angle (heading)
• K - vector of gains (k1, k2, k3)
• delta_offset - either a scalar (a constant offset), or a vector of offsets (the bike will attempt to hit delta_offset(n) at the nth timestep
• numTimeSteps - the number of time steps to run the simulation for
• graph - 1= draws graph, 0 =does not

See also

• LQR