In this paper we address the problem of controlling an autonomous bicycle. We introduce a simple model using Lagrange formalism. Equations of motion will be derived having in mind an extension to a mechanical system composed of rigid bodies. We will neglect tire dynamics adding two nonholonomic constraints to the wheels. We introduce the idea of virtual control of the roll angle and we use a Model Predictive Control strategy to obtain the path following. We have shown a simple bicycle model and reviewed the process of adding nonholonomic constraints to a mechanical system derived using the Lagrange formalism. We have proposed an MPC law for path following based on a virtual input. We solve a suboptimal control problem, virtually driving the vehicle using the roll angle acceleration. Further investigation are needed to prove stability and asymptotic tracking of the given approach. Large number of simulations has shown a good performance even in presence of model variations.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Control of a bicycle using model predictive control strategy


    Additional title:

    Modellbasierte, vorausschauende Regelung eines Fahrrades


    Contributors:


    Publication date :

    2004


    Size :

    6 Seiten


    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




    Modelling and model predictive control for a bicycle-rider system

    Chu, T. D. / Chen, C. K. | Taylor & Francis Verlag | 2018


    BICYCLE CONTROL DEVICE AND BICYCLE CONTROL SYSTEM

    TSUCHIZAWA YASUHIRO / MATSUDA HIROSHI | European Patent Office | 2017

    Free access

    BICYCLE CALIPER, BICYCLE CALIPER CONTROL METHOD, AND BICYCLE CALIPER CONTROL SYSTEM

    TSAI SZU-FANG / LIAO BO-YI / CHUANG HSUN-YU | European Patent Office | 2021

    Free access

    BICYCLE CONTROL DEVICE AND BICYCLE SUSPENSION SYSTEM INCLUDING BICYCLE CONTROL DEVICE

    TETSUKA TOSHIO | European Patent Office | 2019

    Free access