A Control Scheme for an Opposed Recumbent Tandem Human-Powered Bicycle

in Journal of Applied Biomechanics
View More View Less
Restricted access

Purchase article

USD  $24.95

Student 1 year online subscription

USD  $88.00

1 year online subscription

USD  $118.00

Student 2 year online subscription

USD  $168.00

2 year online subscription

USD  $224.00

Feedback control of a human-powered single-track bicycle is investigated through the use of a linearized dynamical model in order to develop feedback gains that can be implemented by a human pilot in an actual vehicle. The object of the control scheme is to satisfy two goals: balance and tracking. The pilot should be able not only to keep the vehicle upright but also to direct the forward motion as desired. The two control inputs, steering angle and rider lean angle, are assumed to be determined by the rider as a product of feedback gains and “measured” values of the state variables: vehicle lean, lateral deviation from the desired trajectory, and their derivatives. Feedback gains are determined through linear quadratic regulator theory. This results in two control schemes, a “full” optimal feedback control and a less complicated technique that is more likely to be usable by an inexperienced pilot. Theoretical optimally controlled trajectories are compared with experimental trajectories in a lane change maneuver.

The authors are with the Sports Biomechanics Laboratory, Department of Mechanical and Aeronautical Engineering, University of California, Davis, CA 95616.

All Time Past Year Past 30 Days
Abstract Views 20 13 0
Full Text Views 0 0 0
PDF Downloads 0 0 0