https://m2.mtmt.hu/ hun 2026-05-02 10:50 JournalArticle 35181832 ADMIN_APPROVED true First published online: 12 August 2024 0 false 2026-04-27T07:44:01.972+0000 2025-09-02T04:53:39.471+0000 2024-08-26T07:16:29.339+0000 true 10072271 Andódy Katalin /api/admin/10072271 Admin Andódy Katalin (BME admin4) true 2026-01-26T22:01:53.500+0000 2025-09-02T04:53:39.674+0000 true 10049401 Fülöp Tamás /api/admin/10049401 Admin Fülöp Tamás (BME GPK admin5) true 10049401 true false true 24 24 /api/publicationtype/24 PublicationType Folyóiratcikk 1 true 24 JournalArticle true 10000059 Article true 24 24 /api/publicationtype/24 PublicationType Folyóiratcikk 1 true 24 JournalArticle /api/subtype/10000059 Szakcikk SubType Szakcikk (Folyóiratcikk) 101 true 10000059 true 1 /api/category/1 Category Tudományos true 1 Horvath, Hanna Zsofia true true /api/journal/36396 REVIEWED MULTIBODY SYSTEM DYNAMICS 1384-5640 1573-272X true false 36396 false 36396 true 1384-5640 1573-272X Journal 64 627 655 627 29 2025 The nonlinear dynamics of electric scooters are investigated using a spatial mechanical model. The equations of motion are derived with the help of Kane’s method. Two control algorithms are designed in order to balance the e-scooter in a vertical position at zero forward speed. Hierarchical, linear state feedback controllers with feedback delay are considered. In the case of a delay-free controller, the linear stability properties are analyzed analytically, with the help of the Routh–Hurwitz criteria. The linear stability charts of the delayed controllers are constructed with the help of the D-subdivision method and semi-discretization. The control gains of the controllers are optimized with respect to the robustness against perturbations. The effects of the feedback delay of the controllers, the rake angle, the trail, and the center of gravity of the handlebar on the linear stability are shown. The performance of the control algorithms is verified by means of numerical simulations. © The Author(s) 2024. true 2024 true true true false true false GOLD 2026-04-27 true https://doi.org/10.1007/s11044-024-10019-z 2 0 2 0 0 2 1 0 0 0 0 0 0 0 2 0 2 0 2 0 0 12 12 Folyóiratcikk Journal Article 24 0 Könyvrészlet Chapter in Book 25 1 Könyv Book 23 0 Egyéb konferenciaközlemény Conference paper 31 1 Egyéb konferenciakötet Conference proceedings 32 0 Oltalmi formák Protection forms 26 0 Disszertáció Thesis 28 0 Egyéb Miscellaneous 29 0 Alkotás Achievement 22 0 Kutatási adat Research data 33 0 Folyóiratcikk Journal Article 24 0 0 0 Könyvrészlet Chapter in Book 25 0 0 0 Könyv Book 23 0 0 0 Egyéb konferenciaközlemény Conference paper 31 0 0 0 Egyéb konferenciakötet Conference proceedings 32 0 0 0 Oltalmi formák Protection forms 26 0 0 0 Disszertáció Thesis 28 0 0 0 Egyéb Miscellaneous 29 0 0 0 Alkotás Achievement 22 0 0 0 Kutatási adat Research data 33 0 0 0 2025 0 2 0 2 0 Q1 false 10019718 false false false 2024-11-24T09:11:42.995+0000 HUN-REN-BME Gépek Dinamikája Kutatócsoport (BME / GPK / MM); Műszaki Mechanikai Tanszék (BME / GPK) 2 6 2 2 0 true Language 10002 /api/language/10002 Angol Angol English true 2 true PersonAuthorship 118698342 /api/authorship/118698342 Horvath, Hanna Zsofia ✉ [Horváth, Hanna Zsófia (műszaki mechanika), szerző] Műszaki Mechanikai Tanszék (BME / GPK) 1 0.5 true false true Author 10063322 /api/author/10063322 Horváth Hanna Zsófia (műszaki mechanika) Horváth Hanna Zsófia true 10063322 true Horvath Hanna Zsofia true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false true PersonAuthorship 118698343 /api/authorship/118698343 Takacs, Denes [Takács, Dénes (Műszaki mechanika), szerző] Műszaki Mechanikai Tanszék (BME / GPK); HUN-REN-BME Gépek Dinamikája Kutatócsoport (BME / GPK / MM) 2 0.5 false true false Author 10019718 /api/author/10019718 Takács Dénes (Műszaki mechanika) Takács Dénes true 10019718 true Takacs Denes true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false true PublicationIdentifier 26956208 /api/publicationidentifier/26956208 DOI: 10.1007/s11044-024-10019-z PlainSource 6 /api/publicationsource/6 DOI PublicationSourceType 10001 /api/publicationsourcetype/10001 DOI true true true DOI DOI https://doi.org/@@@ true true 6 true GOLD true IDENTICAL 10.1007/s11044-024-10019-z https://doi.org/10.1007/s11044-024-10019-z false true PublicationIdentifier 26956209 /api/publicationidentifier/26956209 WoS: 001289325100003 PlainSource 1 /api/publicationsource/1 WoS PublicationSourceType 10003 /api/publicationsourcetype/10003 Indexelő adatbázis false true true WoS WoS https://www.webofscience.com/wos/woscc/full-record/@@@ true true 1 true IDENTICAL 001289325100003 https://www.webofscience.com/wos/woscc/full-record/001289325100003 false true PublicationIdentifier 27298380 /api/publicationidentifier/27298380 REAL: 205130 SwordSource 36 /api/publicationsource/36 REAL 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https://phd.gpk.bme.hu/pub/s/j36396-wy-iy-sy-fy-m1/l9/t3?3002350 https://phd.gpk.bme.hu/pub/s/j36396-wy-iy-sy-fy-m1/l9/t3?3002350 false true Classification 10807 /api/classification/10807 Műszaki és technológiai tudományok true true Keyword 1012862 /api/keyword/1012862 Feedback control true 1012862 true Keyword 1013449 /api/keyword/1013449 feedback delay true 1013449 true Keyword 1014305 /api/keyword/1014305 Robustness (control systems) true 1014305 true Keyword 1032470 /api/keyword/1032470 State feedback true 1032470 true Keyword 1032560 /api/keyword/1032560 Delay control systems true 1032560 true Keyword 1048070 /api/keyword/1048070 Stability criteria true 1048070 true Keyword 1162336 /api/keyword/1162336 Linear Stability true 1162336 true Keyword 1540715 /api/keyword/1540715 S-method true true Keyword 1645293 /api/keyword/1645293 Kane's method true true Keyword 1645293 /api/keyword/1645293 Kane's method true true Keyword 1724328 /api/keyword/1724328 Bicycles true true Keyword 1731285 /api/keyword/1731285 Pneumatic control equipment true true Keyword 2228586 /api/keyword/2228586 Multibody system true true Keyword 2228586 /api/keyword/2228586 Multibody system true true Keyword 2236864 /api/keyword/2236864 electric scooters true true Keyword 2532815 /api/keyword/2532815 E-scooter true true Keyword 2532815 /api/keyword/2532815 E-scooter true true Keyword 2539810 /api/keyword/2539810 Nonlinear simulations true true Keyword 2539810 /api/keyword/2539810 Nonlinear simulations true true Keyword 3496235 /api/keyword/3496235 Control with driving true true Keyword 3496235 /api/keyword/3496235 Control with driving true true Keyword 3496236 /api/keyword/3496236 Control with steering true true Keyword 3496236 /api/keyword/3496236 Control with steering true true Keyword 3496237 /api/keyword/3496237 Motor scooters true true SjrRating 11552573 /api/sjrrating/11552573 sjr:Q1 (2025) Scopus - Aerospace Engineering MULTIBODY SYSTEM DYNAMICS 1384-5640 1573-272X 28 0.24 journal 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(2025) MULTIBODY SYSTEM DYNAMICS 1384-5640 1573-272X 64 627-655<div class="JournalArticle Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <img title="Idézőközlemény" style="float: left" src="/frontend/resources/grid/publication-citation-icon.png"> <div class="autype autype0"> <span class="author-name" mtid="10063322"><a href="/gui2/?type=authors&mode=browse&sel=10063322" target="_blank">Horvath Hanna Zsofia ✉ (<span class="authorship-author-name">Horváth Hanna Zsófia</span> <span class="authorAux-mtmt"> műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/Műszaki Mechanikai Tanszék</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10019718"><a href="/gui2/?type=authors&mode=browse&sel=10019718" target="_blank">Takacs Denes (<span class="authorship-author-name">Takács Dénes</span> <span class="authorAux-mtmt"> Műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/Műszaki Mechanikai Tanszék; <span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/<span title="Műszaki Mechanikai Tanszék">MM</span>/HUN-REN-BME Gépek Dinamikája Kutatócsoport</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;35181832" target="_blank">Balancing riderless electric scooters at zero speed in the presence of a feedback delay</a></div> <div> <span class="journal-title">MULTIBODY SYSTEM DYNAMICS</span> <span class="journal-issn">(<a target="_blank" href="https://portal.issn.org/resource/ISSN/1384-5640">1384-5640</a> <a target="_blank" href="https://portal.issn.org/resource/ISSN/1573-272X">1573-272X</a>)</span>: <span class="journal-volume">64</span> <span class="page"> pp 627-655 </span> <span class="year">(2025)</span> </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Nyelv: Angol | </span> <span class="identifiers"> <span class="id identifier oa_GOLD" title=" Gold "> <a style="color:blue" title="10.1007/s11044-024-10019-z" target="_blank" href="https://doi.org/10.1007/s11044-024-10019-z"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="001289325100003" target="_blank" href="https://www.webofscience.com/wos/woscc/full-record/001289325100003"> WoS </a> </span> <span class="id identifier oa_GREEN" title=" Green "> <a style="color:black" title="205130" target="_blank" href="http://real.mtak.hu/205130"> REAL </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="85201257022" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85201257022"> Scopus </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="https://phd.gpk.bme.hu/pub/s/j36396-wy-iy-sy-fy-m1/l9/t3?3002350" target="_blank" href="https://phd.gpk.bme.hu/pub/s/j36396-wy-iy-sy-fy-m1/l9/t3?3002350"> Egyéb URL </a> </span> </span> <OnlyViewableByAuthor><div class="ratings"> <div class="journal-subject">Folyóirat szakterülete: Scopus - Aerospace Engineering&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Control and Optimization&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Mechanical Engineering&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Modeling and Simulation&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Computer Science Applications&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q2</div> </div></OnlyViewableByAuthor> <div class="publication-citation" style="margin-left: 0.5cm;"> <span title="Nyilvános idézőközlemények összesen, említések nélkül" class="citingPub-count">Nyilvános idéző összesen: 2</span> | Független: 0 | Függő: 2 | Nem jelölt: 0 | DOI jelölt:&nbsp;1 </div> <div class="publication-citation"> <a target="_blank" href="/api/publication?cond=citations.related;eq;35181832&sort=publishedYear,desc&sort=title"> Idézett közlemények száma: 12 </a> </div> <div class="mtid"><span class="long-pub-mtid">Közlemény: 35181832</span> | <span class="status-data status-ADMIN_APPROVED"> Admin láttamozott </span> Forrás Idéző | <span class="type-subtype">Folyóiratcikk ( Szakcikk ) </span> | <span class="pub-category">Tudományos</span> | <span class="publication-sourceOfData">Scopus</span> </div> <div class="lastModified">Utolsó módosítás: 2025.09.02. 06:53 Fülöp Tamás (BME GPK admin5) </div> <pre class="comment" style="margin-top: 0; margin-bottom: 0;"><u>Megjegyzés</u>: First published online: 12 August 2024</pre> </div></div>