Chen Chu BMD2016.pdf (1.8 MB)
An Active Stabilizing Assistant System for a Bicycle: Modeling and Control Strategies
Version 2 2016-09-28, 01:14
Version 1 2016-09-28, 00:54
journal contribution
posted on 2016-09-28, 01:14 authored by Chih-Keng ChenChih-Keng ChenIn
this study, a design of an active stabilizing assistant system (ASAS) is
proposed. Based on this design, a nonlinear model of the assisted bicycle with
a rider is developed. This nonlinear model consists of 14 degree of freedom
with the wheels are assumed as thin disks. To control the system, two model predictive
controllers (MPCs) have been developed. Where the first MPC is to simulate the
rider’s behaviors and the second one is used to control the ASAS. In order to
evaluate the performance of the ASAS, comparisons between the assisted bicycle and
a normal bicycle are discussed in four cases of simulation. The results show
that the ASAS can help riders to stabilize the bike with better performance