Title :
Modeling and Model Predictive Control for a Bicycle-Rider System
Author :
Chih-Keng Chen ; Trung-Dung Chu
Author_Institution :
Dept. of Mech. & Autom. Eng., Dayeh Univ., Changhua, Taiwan
Abstract :
In this study, a bicycle-rider system was developed. Model predictive control (MPC) is used to control the system follows reference roll-angle. Control inputs are steering torque on the handle bar and the leaning torque of rider´s upper body. The performance of the controller, the interaction between rider´s motion and the bicycle dynamics are discussed via simulation results.
Keywords :
bicycles; predictive control; vehicle dynamics; MPC; bicycle dynamics; bicycle-rider system; handle bar; leaning torque; model predictive control; reference roll-angle; steering torque; Bicycles; Dynamics; Mathematical model; Predictive control; Predictive models; Simulation; Torque; bicycle dynamics; model predictive control; roll-angle tracking; system identification;
Conference_Titel :
Information Science and Control Engineering (ICISCE), 2015 2nd International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4673-6849-0
DOI :
10.1109/ICISCE.2015.185
