Modeling and model predictive control for a bicycle-rider system

Chih Keng Chen; Trung Dung Chu

doi:10.1109/ICISCE.2015.185

Modeling and model predictive control for a bicycle-rider system

Chih Keng Chen
, Trung Dung Chu

Department of Vehicle Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

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.

Original language	English
Title of host publication	Proceedings - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015
Editors	Shaozi Li, Ying Dai, Yun Cheng
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	810-814
Number of pages	5
ISBN (Electronic)	9781467368506
DOIs	https://doi.org/10.1109/ICISCE.2015.185
State	Published - 9 Jun 2015
Event	2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015 - Shanghai, China Duration: 24 Apr 2015 → 26 Apr 2015

Publication series

Name	Proceedings - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015

Conference

Conference	2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015
Country/Territory	China
City	Shanghai
Period	24/04/15 → 26/04/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

Bicycle dynamics
Model predictive control
Roll-angle tracking
System identification

Access to Document

10.1109/ICISCE.2015.185

Cite this

Chen, C. K., & Chu, T. D. (2015). Modeling and model predictive control for a bicycle-rider system. In S. Li, Y. Dai, & Y. Cheng (Eds.), Proceedings - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015 (pp. 810-814). Article 7120725 (Proceedings - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICISCE.2015.185

Chen, Chih Keng ; Chu, Trung Dung. / Modeling and model predictive control for a bicycle-rider system. Proceedings - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015. editor / Shaozi Li ; Ying Dai ; Yun Cheng. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 810-814 (Proceedings - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015).

@inproceedings{7055856b814e4a7ca3b54be4c26159f7,

title = "Modeling and model predictive control for a bicycle-rider system",

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 = "Bicycle dynamics, Model predictive control, Roll-angle tracking, System identification",

author = "Chen, \{Chih Keng\} and Chu, \{Trung Dung\}",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015 ; Conference date: 24-04-2015 Through 26-04-2015",

year = "2015",

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Chen, CK & Chu, TD 2015, Modeling and model predictive control for a bicycle-rider system. in S Li, Y Dai & Y Cheng (eds), Proceedings - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015., 7120725, Proceedings - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015, Institute of Electrical and Electronics Engineers Inc., pp. 810-814, 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015, Shanghai, China, 24/04/15. https://doi.org/10.1109/ICISCE.2015.185

Modeling and model predictive control for a bicycle-rider system. / Chen, Chih Keng; Chu, Trung Dung.
Proceedings - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015. ed. / Shaozi Li; Ying Dai; Yun Cheng. Institute of Electrical and Electronics Engineers Inc., 2015. p. 810-814 7120725 (Proceedings - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - 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.

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KW - Model predictive control

KW - Roll-angle tracking

KW - System identification

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A2 - Li, Shaozi

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A2 - Cheng, Yun

PB - Institute of Electrical and Electronics Engineers Inc.

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Chen CK, Chu TD. Modeling and model predictive control for a bicycle-rider system. In Li S, Dai Y, Cheng Y, editors, Proceedings - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 810-814. 7120725. (Proceedings - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015). doi: 10.1109/ICISCE.2015.185

Modeling and model predictive control for a bicycle-rider system

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