Bicycle Rider Control Modelling for Path Tracking

Abstract

Rider models are employed to gain insight into bicycle rider steering behaviour and to improve characteristic properties of bicycles. In this paper, stability properties as well as basic dynamic characteristics of the passive (uncontrolled) bicycle-rider system and consequences on the rider control modelling are addressed. In particular, the unstable motion of the system at low velocities and bandwidth limitations caused by non-minimum phase dynamics are emphasized. To analyse the effectiveness of the steering torque and the lean torque as possible rider's inputs to control the dynamics of the bicycle, a controllability analysis of the bicycle-rider system has been performed. It turns out that lean torque input, in contrast to steering torque input, has marginal impact on the dynamics of the system. Finally, a bicycle rider control model considering human rider properties is presented, and its capabilities are demonstrated by performing a curve entering manoeuvre.

Rider model identification: neural networks and quasi‐LPV models

“…The conclusions of [15] indicate that the handlebar steering torque is the main method used to control a motorcycle. [19] draws the same conclusion for the bicycle case. [13,14] has analysed the preview distance needed as a function of the speed and has concluded that a greater preview distance is required for motorcycle driving than for car driving.…”

Estabilidad y control de sistemas mecánicos de base móvil

“…En la revisión del estado del arte consultado se encuentra la aplicación de distintas estrategias de control para estos sistemas, tanto lineales como no lineales. Ambas técnicas requieren de una buena comprensión del modelo matemático [9] que puede obtenerse mediante la ecuación de Lagrange [10], el algoritmo de Newton-Euler [11], leyes de Newton [12]. Una comparación entre estrategias de control lineales y no lineales se encuentran en [13][14][15].…”

Estudio de la Dinámica y Control de una Bicicleta Robótica

“…Dentro de la literatura consultada se encuentra la aplicación de diferentes técnicas de control para estos sistemas, tanto lineales como no lineales. Ambas técnicas requieren de una buena comprensión del modelo matemático [6], que puede obtenerse mediante la ecuación de Lagrange [7], el algoritmo de Newton-Euler [8] y leyes de Newton [9]. Para la estrategia de control lineal, el modelo que se obtiene con cualquiera de las anteriores técnicas debe ser linealizado, caso contrario al control no lineal, donde se utiliza directamente el modelo matemático obtenido.…”