@article{MTMT:35181832,
	title = {Balancing riderless electric scooters at zero speed in the presence of a feedback delay},
	url = {https://m2.mtmt.hu/api/publication/35181832},
	author = {Horváth, Hanna Zsófia and Takács, Dénes},
	doi = {10.1007/s11044-024-10019-z},
	journal-iso = {MULTIBODY SYST DYN},
	journal = {MULTIBODY SYSTEM DYNAMICS},
	volume = {64},
	unique-id = {35181832},
	issn = {1384-5640},
	abstract = {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.},
	keywords = {Feedback control; feedback delay; Robustness (control systems); State feedback; Delay control systems; Stability criteria; Linear Stability; S-method; Kane's method; Kane's method; Bicycles; Pneumatic control equipment; Multibody system; Multibody system; electric scooters; E-scooter; E-scooter; Nonlinear simulations; Nonlinear simulations; Control with driving; Control with driving; Control with steering; Control with steering; Motor scooters},
	year = {2025},
	eissn = {1573-272X},
	pages = {627-655},
	orcid-numbers = {Horváth, Hanna Zsófia/0000-0002-9427-3565; Takács, Dénes/0000-0003-1226-8613}
}

@CONFERENCE{MTMT:36330563,
	title = {Stability control of two-wheeled trailers with different contact force models},
	url = {https://m2.mtmt.hu/api/publication/36330563},
	author = {Horváth, Hanna Zsófia and Takács, Dénes and Antali, Máté},
	booktitle = {Book of Abstracts of the12th ECCOMAS Thematic Conference on Multibody Dynamics},
	unique-id = {36330563},
	year = {2025},
	orcid-numbers = {Horváth, Hanna Zsófia/0000-0002-9427-3565; Takács, Dénes/0000-0003-1226-8613; Antali, Máté/0000-0001-6750-0710}
}

@CONFERENCE{MTMT:35321524,
	title = {Stability analysis of a hierarchical steering controller with feedback delays for balancing electric scooters in vertical position},
	url = {https://m2.mtmt.hu/api/publication/35321524},
	author = {Horváth, Hanna Zsófia and Takács, Dénes},
	booktitle = {Online Book of Abstracts of the 11th European Nonlinear Dynamics Conference (ENOC 2024)},
	unique-id = {35321524},
	year = {2024},
	pages = {1-3},
	orcid-numbers = {Horváth, Hanna Zsófia/0000-0002-9427-3565; Takács, Dénes/0000-0003-1226-8613}
}

@article{MTMT:35490179,
	title = {Nonlinear Dynamics of a Controlled Two-Wheeled Trailer},
	url = {https://m2.mtmt.hu/api/publication/35490179},
	author = {Horváth, Hanna Zsófia and Feher, Adam Balint and Takács, Dénes},
	doi = {10.1007/978-3-031-70392-8_18},
	journal-iso = {LECT NOTES MECHAN ENG},
	journal = {LECTURE NOTES IN MECHANICAL ENGINEERING},
	volume = {16th International Symposium on Advanced Vehicle Control},
	unique-id = {35490179},
	issn = {2195-4356},
	abstract = {The nonlinear dynamics of towed two-wheeled trailers is investigated using a spatial, 4-DoF model. Namely, the yaw, pitch, and roll motions are all taken into account. Geometrical nonlinearities and the non-smooth characteristics of the tire forces are considered. A linear state feedback controller with feedback delay is designed to enhance the stability performance of the trailer. Numerical bifurcation analysis is performed to investigate the large amplitude vibrations and unsafe (bistable) zones, where the stable rectilinear motion and the stable limit cycle coexist with each other. The effects of the control gain and the feedback delay of the controller are presented on bifurcation diagrams. It is shown, that with appropriately chosen control gains, the size of the bistable region can be limited. © The Author(s) 2024.},
	keywords = {Feedback control; feedback delay; feedback delay; State feedback; Control gains; Control nonlinearities; Delay control systems; Bifurcation (mathematics); Nonlinear analysis; Nonlinear analysis; Vibration analysis; Tire forces; nonlinear feedback; stability control; stability control; Geometrical non-linearity; Linear state feedback; towed two-wheeled trailer; towed two-wheeled trailer; Trackless trolleys; Pitch motion; Roll motions; Yaw motions},
	year = {2024},
	eissn = {2195-4364},
	pages = {123-129},
	orcid-numbers = {Horváth, Hanna Zsófia/0000-0002-9427-3565; Takács, Dénes/0000-0003-1226-8613}
}

@CONFERENCE{MTMT:35666967,
	title = {Stabilizing E-scooters at Zero Speed with Feedback Control},
	url = {https://m2.mtmt.hu/api/publication/35666967},
	author = {Horváth, Hanna Zsófia and Takács, Dénes},
	booktitle = {18th IFAC TDS - Time Delay Systems - Program & Book of abstracts},
	unique-id = {35666967},
	year = {2024},
	orcid-numbers = {Horváth, Hanna Zsófia/0000-0002-9427-3565; Takács, Dénes/0000-0003-1226-8613}
}

@article{MTMT:33698804,
	title = {Numerical Analysis on Shimmying Wheels with Dry Friction Damper},
	url = {https://m2.mtmt.hu/api/publication/33698804},
	author = {Horváth, Hanna Zsófia and Takács, Dénes},
	doi = {10.3311/PPme.21072},
	journal-iso = {PERIOD POLYTECH MECH ENG},
	journal = {PERIODICA POLYTECHNICA-MECHANICAL ENGINEERING},
	volume = {67},
	unique-id = {33698804},
	issn = {0324-6051},
	abstract = {The dynamics of the 1.5-degree-of-freedom model of towed wheel is investigated. Dry friction at the king pin is considered, leading to a non-smooth dynamical system. Beyond analytical and numerical linear stability analysis, the nonlinear vibrations are investigated by numerical bifurcation analysis with smoothing and by numerical simulations with event handling. The effect of dry friction at the king pin on the birth of separated periodic branches is presented on bifurcation diagrams. The presence of bistable parameter domains is also shown. The effect of smoothing is investigated by comparing bifurcation diagrams of the smoothed and the original non-smooth systems.},
	keywords = {DYNAMICS; Numerical simulation; Bifurcation analysis; Wheel shimmy; non-smooth system; dry friction damper},
	year = {2023},
	eissn = {1587-379X},
	pages = {118-126},
	orcid-numbers = {Horváth, Hanna Zsófia/0000-0002-9427-3565; Takács, Dénes/0000-0003-1226-8613}
}

@CONFERENCE{MTMT:34132105,
	title = {Önvezető elektromos kétkerekű jármű egyensúlyozása},
	url = {https://m2.mtmt.hu/api/publication/34132105},
	author = {Horváth, Hanna Zsófia and Takács, Dénes},
	booktitle = {XIV. Magyar Mechanikai Konferencia, Az előadások összefoglalói},
	unique-id = {34132105},
	year = {2023},
	pages = {1-2},
	orcid-numbers = {Horváth, Hanna Zsófia/0000-0002-9427-3565; Takács, Dénes/0000-0003-1226-8613}
}

@CONFERENCE{MTMT:34132111,
	title = {Balancing Standstill Motorcycles by Steering Control with Feedback Delay},
	url = {https://m2.mtmt.hu/api/publication/34132111},
	author = {Horváth, Hanna Zsófia and Takács, Dénes},
	booktitle = {The Evolving Scholar - BMD 2023, 5th Edition},
	doi = {10.59490/647daeb569d559aa327d02f6},
	unique-id = {34132111},
	abstract = {A steering control algorithm is constructed in order to balance a standstill motorcycle using its steering mechanism. The governing equations are derived with the help of Kane's method. The linear stability properties and the effect of the feedback delay in the control loop are analyzed via stability charts. It is shown that the presence of a small time delay already restricts the stable domain of the control gains significantly. The effect of the positive/negative trail of the steering wheel is also investigated.},
	year = {2023},
	pages = {1-3},
	orcid-numbers = {Horváth, Hanna Zsófia/0000-0002-9427-3565; Takács, Dénes/0000-0003-1226-8613}
}

@CONFERENCE{MTMT:34224276,
	title = {Stability control of two-wheeled trailers},
	url = {https://m2.mtmt.hu/api/publication/34224276},
	author = {Horváth, Hanna Zsófia and Fehér, Ádám Bálint and Takács, Dénes},
	booktitle = {NODYCON 2023 Book of Abstracts},
	unique-id = {34224276},
	year = {2023},
	pages = {1-2},
	orcid-numbers = {Horváth, Hanna Zsófia/0000-0002-9427-3565; Takács, Dénes/0000-0003-1226-8613}
}

@CONFERENCE{MTMT:34498161,
	title = {Steering control with feedback delays for balancing a motorcycle at zero longitudinal speed},
	url = {https://m2.mtmt.hu/api/publication/34498161},
	author = {Horváth, Hanna Zsófia and Takács, Dénes},
	booktitle = {Proceedings of the ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
	unique-id = {34498161},
	year = {2023},
	pages = {1-3},
	orcid-numbers = {Horváth, Hanna Zsófia/0000-0002-9427-3565; Takács, Dénes/0000-0003-1226-8613}
}