Many vehicle systems contain rolling elements which exhibit unstable rolling motion, called shimmying, which may lead to disastrous results. The classical shimmying wheel is a simple model which captures the essential dynamics of such systems. In particular, the uncontrolled stability of the rolling wheel is characterized by a subcritical Hopf bifurcation when certain parameter values are varied. As such, the equilibrium state for the system may be unstable, and even if it is stable, sufficiently non-local initial conditions will lead to unstable dynamics. To control this unstable behavior, a particular geometric structure of this model can be exploited which provides a simple means to design a globally stabilizing controller by the means of feedback linearization.
|Number of pages||8|
|Publication status||Published - Dec 1 1998|
ASJC Scopus subject areas