---
res:
  bibo_abstract:
  - Currently, numerous single-track railway lines are disused due to economic reasons.
    However, they could be reactivated for a bidirectional on-demand service traffic
    by small vehicles that use only one rail. MonoCabs are such small cabin-like vehicles,
    stabilized by a system of control moment gyroscopes and a moveable mass. They
    could make an important contribution to improve the mobility offer especially
    in rural areas. This paper focuses on the analytical modeling and vertical stabilization
    system of the MonoCab. A nonlinear dynamic model is obtained using the Lagrangian
    method and subsequently linearized about its equilibrium point. Which is used
    for the design of the cascade control system. The dynamic analysis of the system
    is accomplished by comparing between analytically derived model in simulink environment
    and same structured model in simscape multibody. This system is discussed based
    on a physical three body model which describes the rolling motion of the vehicle,
    the lateral motion of the mass and the precession motion of the gyroscope. The
    model is utilized for a cascaded control concept adjusting the vehicle’s roll
    angle and gyroscope’s precession angle. The proposed stabilization concept is
    capable of compensating both high dynamic disturbances and stationary disturbances
    (e. g. unbalanced loads and steady wind flows). The concept is analyzed by simulations
    and experimental investigations. Beside transient command responses also the frequency
    response of the system is experimentally evaluated and used for a validation of
    the model and theoretical findings. For the experimental validation, a small scaled
    test rig is used which consists of mechanical frames and flywheels, inverter-fed
    drives, rotary encoders, an inertial measurement unit (IMU) and a rapid control
    prototyping system.@eng
  bibo_authorlist:
  - foaf_Person:
      foaf_givenName: Martin
      foaf_name: Griese, Martin
      foaf_surname: Griese
      foaf_workInfoHomepage: http://www.librecat.org/personId=52308
  - foaf_Person:
      foaf_givenName: Seyed Davood
      foaf_name: Mousavi, Seyed Davood
      foaf_surname: Mousavi
      foaf_workInfoHomepage: http://www.librecat.org/personId=79148
  - foaf_Person:
      foaf_givenName: Thomas
      foaf_name: Schulte, Thomas
      foaf_surname: Schulte
      foaf_workInfoHomepage: http://www.librecat.org/personId=46242
  bibo_doi: 10.1109/ICCMA54375.2021.9646219
  dct_date: 2021^xs_gYear
  dct_language: eng
  dct_publisher: IEEE@
  dct_subject:
  - Vehicle dynamics
  - Control moment gyroscope
  - Control system analysis
  - Roll stabilization
  - Monorail vehicles
  dct_title: Modeling the Vertical Dynamics of a Self-stabilizing Monorail Vehicle@
...