Position control of rolling skateboard

Balazs Varszegi, Denes Takacs, Gabor Stepan

Research output: Contribution to journalConference article


A simple mechanical model of the skateboard-skater system is analyzed, in which the skater tries to follow a straight line by the board. The human control is considered by means of a linear delayed PD controller. The equations of motion of the non-holonomic system are derived with the help of the Gibbs-Appell method. The linear stability of the system is given analytically. The effect of the reflex delay of the skater on the stability is investigated. It is shown that in case of zero reflex delay, the motion along a straight line is unstable while non-zero reflex delay can provide stable motion for some specific speed ranges.

Original languageEnglish
Pages (from-to)286-291
Number of pages6
Issue number12
Publication statusPublished - Jul 1 2015
Event12th IFAC Workshop on Time Delay Systems, TDS 2015 - Ann Arbor, United States
Duration: Jun 28 2015Jun 30 2015



  • Non-holonomic
  • PD controller
  • Skateboard
  • Time delay

ASJC Scopus subject areas

  • Control and Systems Engineering

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