Modelling and non-linear feedback stabilization of a two-wheel vehicle

M. A. Karkoub, M. Parent

Research output: Contribution to journalArticle

21 Citations (Scopus)


This paper deals with the modelling and control of a two-wheel vehicle (B2). The wheels of the B2 are connected to the side of the chassis via gearboxes and motors, and rotate around the same axis. This arrangement is different from that of a bicycle where the wheels rotate around parallel axes and are aligned with the chassis. The B2 has many advantages, namely zero pollution since the motors are electrical, high manoeuvrability given its size and relatively low cost. A non-linear dynamic model is derived and used in the control design process. The control techniques used in this work are based on energy and angular momentum zeroing. In the case of energy zeroing, a non-linear control law is used to bring the states near the desired position, where a second linear controller takes over to make the states converge towards the desired position. The second controller is based on momentum zeroing and is able to bring the states to their desired position without switching. The simulation results presented in this paper show the success of both control schemes in stabilizing the B2 vehicle.

Original languageEnglish
Pages (from-to)675-686
Number of pages12
JournalProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Issue number8
Publication statusPublished - 1 Dec 2004


  • Momentum zeroing
  • Non-linear feedback stabilization
  • Two-wheel vehicle
  • Underactuated

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

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