Undershoot in a Circular Path Following the Control Response of a Two-wheeled Vehicle

Abstract

In this paper, we discuss a circular path based on the control response of a two-wheeled vehicle. For the circular path, two methods can be applied to a two-wheeled vehicle system, namely rotational coordinate transformation and expansionary coordinate transformation. However, we discovered that, unlike the latter method results in an undershoot in the initial response. we considered the problem and confirmed it via simulation.