NDLI: Dynamic modeling and balance control of human/bicycle systems

Content Provider	IEEE Xplore Digital Library
Author	Yizhai Zhang Jingang Yi
Copyright Year	2010
Description	Author affiliation: Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ 08854 USA (Yizhai Zhang; Jingang Yi)
Abstract	Understanding of human/bicycle interaction is crucial not only for enhancing human/bicycle safety but also for designing new bicycle-based robotic device. We present a dynamic modeling and balance control of human/bicycle systems. The dynamic models of human/bicycle systems are based on previously developed modeling of riderless autonomous motorcycles. We consider the human body as a point-mass connected to the bicycle platform. For balancing control of human/bicycle systems, we propose a hierarchical sliding-mode control approach in which multiple coupled sliding surfaces are designed. The human body action is considered as an unknown disturbance and a nonlinear disturbance observer (NDOB) is used to estimate its value. The stability of the combined control and NDOB systems is guaranteed. The performance of the control systems is demonstrated through simulation results.
Starting Page	1385
Ending Page	1390
File Size	820759
Page Count	6
File Format	PDF
ISBN	9781424480319
e-ISBN	9781424480326
DOI	10.1109/AIM.2010.5695827
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-06
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Bicycles Aerodynamics Motorcycles Control design Vehicle dynamics
Content Type	Text
Resource Type	Article

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