Modeling and Model Predictive Control for a Bicycle-Rider System

被引：1

作者：

Chen, Chih-Keng ^{[1
]}

Chu, Trung-Dung ^{[1
]}

机构：

[1] Dayeh Univ, Dept Mech & Automat Engn, Changhua, Taiwan

来源：

2015 2ND INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CONTROL ENGINEERING ICISCE 2015 | 2015年

关键词：

bicycle dynamics; system identification; roll-angle tracking; model predictive control; BENCHMARK; EQUATIONS;

D O I：

10.1109/ICISCE.2015.185

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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.

引用

页码：812 / 816

页数：5

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