Bicycle dynamics and control: adapted bicycles for education and research

Author

Åström, Karl J. ; Klein, Richard E. ; Lennartsson, Anders

Author_Institution

Dept. of Autom. Control, Lund Inst. of Technol., Sweden

Volume

25

Issue

4

fYear

2005

Firstpage

26

Lastpage

47

Abstract

In this paper, the dynamics of bicycles is analyzed from the perspective of control. Models of different complexity are presented, starting with simple ones and ending with more realistic models generated from multibody software. Models that capture essential behavior such as self-stabilization as well as models that demonstrate difficulties with rear wheel steering are considered. Experiences using bicycles in control education along with suggestions for fun and thought-provoking experiments with proven student attraction are presented. Finally, bicycles and clinical programs designed for children with disabilities are described.

Keywords

bicycles; control engineering computing; control engineering education; design; handicapped aids; nonlinear control systems; nonlinear dynamical systems; position control; stability; bicycle control; bicycle dynamics; clinical programs; computer simulation; control education; disabled children; dynamic behavior; inverted pendulum; modelling; multibody software; nonminimum phase steering behavior; rear wheel steering difficulties; self-stabilization; Bicycles; Books; Education; Educational products; Educational programs; Equations; Lagrangian functions; Motorcycles; Tires; Wheels;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/MCS.2005.1499389

Filename

1499389