Skateboard: A human controlled non-holonomic system

Balazs Varszegi, Denes Takacs, G. Stépán

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A simple mechanical model of the skateboard-skater system is analyzed, in which a linear PD controller with delay is included to mimic the effect of human control. The equations of motion of the non-holonomic system are derived with the help of the Gibbs-Appell method. The linear stability analysis of rectilinear motion is carried out analytically using the D-subdivision method. It is shown how the control gains have to be varied with respect to the speed of the skateboard in order to stabilize the uniform motion. The critical reflex delay of the skater is determined as a function of the speed and the fore-aft location of the skater on the board. Based on these, an explanation is given for the well-known instability of the skateboard-skater system at high speed.

Original languageEnglish
Title of host publication11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume6
ISBN (Electronic)9780791857168
DOIs
Publication statusPublished - 2015
EventASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States
Duration: Aug 2 2015Aug 5 2015

Other

OtherASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
CountryUnited States
CityBoston
Period8/2/158/5/15

Fingerprint

Nonholonomic Systems
Motion
Linear Stability Analysis
Subdivision
Equations of Motion
Linear stability analysis
High Speed
Gain control
Controller
Equations of motion
Controllers
Human
Model

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Varszegi, B., Takacs, D., & Stépán, G. (2015). Skateboard: A human controlled non-holonomic system. In 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (Vol. 6). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2015-47512

Skateboard : A human controlled non-holonomic system. / Varszegi, Balazs; Takacs, Denes; Stépán, G.

11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. Vol. 6 American Society of Mechanical Engineers (ASME), 2015.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Varszegi, B, Takacs, D & Stépán, G 2015, Skateboard: A human controlled non-holonomic system. in 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. vol. 6, American Society of Mechanical Engineers (ASME), ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015, Boston, United States, 8/2/15. https://doi.org/10.1115/DETC2015-47512
Varszegi B, Takacs D, Stépán G. Skateboard: A human controlled non-holonomic system. In 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. Vol. 6. American Society of Mechanical Engineers (ASME). 2015 https://doi.org/10.1115/DETC2015-47512
Varszegi, Balazs ; Takacs, Denes ; Stépán, G. / Skateboard : A human controlled non-holonomic system. 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. Vol. 6 American Society of Mechanical Engineers (ASME), 2015.
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