The control of a bicycle has been well studied when a steer torque is used as the control input. Less has been done to investigate the control of a hands free bicycle through the rider’s lean relative to the bicycle frame. In this work, we extend a verified benchmark bicycle model to include a rider with the ability to lean in and out of the plane of the bicycle frame. A multi-input multi-output LQR state feedback controller is designed with the control objective being the tracking of a reference yaw rate and rear wheel angular velocity through the use of rider lean torque and rear wheel (pedaling) torque. The LQR controller is tested on the nonlinear model and numerical simulation results are presented. Conclusions regarding the required lean angle of the rider relative to the bicycle frame necessary to execute a steady turn are made, as well as observations of the effects of right half plane zeros in the transfer function from rider lean torque to yaw rate.
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ASME 2008 International Mechanical Engineering Congress and Exposition
October 31–November 6, 2008
Boston, Massachusetts, USA
Conference Sponsors:
- ASME
ISBN:
978-0-7918-4863-0
PROCEEDINGS PAPER
Yaw Rate and Velocity Tracking Control of a Hands-Free Bicycle
Dale L. Peterson,
Dale L. Peterson
University of California - Davis, Davis, CA
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Mont Hubbard
Mont Hubbard
University of California - Davis, Davis, CA
Search for other works by this author on:
Dale L. Peterson
University of California - Davis, Davis, CA
Mont Hubbard
University of California - Davis, Davis, CA
Paper No:
IMECE2008-68948, pp. 447-454; 8 pages
Published Online:
August 26, 2009
Citation
Peterson, DL, & Hubbard, M. "Yaw Rate and Velocity Tracking Control of a Hands-Free Bicycle." Proceedings of the ASME 2008 International Mechanical Engineering Congress and Exposition. Volume 2: Biomedical and Biotechnology Engineering. Boston, Massachusetts, USA. October 31–November 6, 2008. pp. 447-454. ASME. https://doi.org/10.1115/IMECE2008-68948
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