報告題目：Skateboards as controlled nonholonomic systems
報告人：Mr. Balazs Varszegi (Department of Applied Mechanics, Budapest University of Technology and Economics)
報告時間: 2016年8月2日16:00-17:00
報告地點: A18-705
主辦單位：國際合作交流處、機械結構力學及控制國家重點實驗室、航空宇航學院、科協
報告摘要：
A simple mechanical model of the skateboard-skater system is analysed, in which the effect of human control is considered by means of a linear PD controller with delay. The equations of motion of this nonholonomic system are neutral delay-differential equations. So, even the derivation of these equations requires advanced tools. A linear stability analysis of the rectilinear motion is carried out analytically. It is shown how to vary the control gains with respect to the speed of the skateboard to stabilize the uniform motion. The critical reflex delay of the skater is determined as the function of the speed. Based on this analysis, we present an explanation for the linear instability of the skateboard-skater system at high speed. Moreover, the advantages of standing ahead of the centre of the board is demonstrated from the view point of reflex delay and control gain sensitivity.
