Dynamic Modeling and Simulation of a Bicycle Stabilized by LQR Control

Adam Owczarkowski; Dariusz Horla; Piotr Kozierski; Talar Sadalla

doi:10.1109/MMAR.2016.7575258

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Title

Dynamic Modeling and Simulation of a Bicycle Stabilized by LQR Control

Authors

Adam Owczarkowski (WE) ^{[ 1 ][ D ]}
Dariusz Horla (WE) ^{[ 1 ][ P ]}
Piotr Kozierski (WI) ^{[ 2 ][ D ]}
Talar Sadalla (WE) ^{[ 1 ][ D ]}

^{[ 1 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ 2 ]} Wydział Informatyki, Politechnika Poznańska | ^{[ D ]} phd student | ^{[ P ]} employee

Year of publication

2016

Chapter type

paper

Publication language

english

Abstract

EN In this paper, we present a new approach to mathematical modeling of the bicycle. It is based on the detailed nonlinear Whipple scientific description. We are focused on the state space representation which we use to solve the control law and we test the optimal linear quadratic control which finally gives satisfactory results. The article includes a several computer simulations of the single-track vehicle motion. We indicate when the bicycle is self-stable. The results are useful to make further research on the bicycle modelling.

Pages (from - to)

907 - 911

DOI

10.1109/MMAR.2016.7575258

URL

https://ieeexplore.ieee.org/document/7575258

Book

21st International Conference on Methods and Models in Automation and Robotics (MMAR 2016)

Presented on

21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016, 29.08.2016 - 01.09.2016, Międzyzdroje, Poland

Publication indexed in

WoS (15)

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