Nonlinear Attitude Dynamics of Twin Cycle with Feedback Control

The nonlinear attitude dynamics of a twin cycle under output feedback control is studied through bifurcation analysis. Two cases are considered. One assumes no slip and the other assumes small slip. The double zero bifurcation is found to occur in both cases but with different bifurcation sets. Among them heteroclinic orbits are found in both cases and a limit cycle in the second case. The region of feedback gains for stability is obtained. Large negative feedback gains are found necessary to assure stability of the twin cycle. Finally, the tire effect is studied and it causes the distortion of the bifurcation sets.