Bicycles, motorcycles, and models

  title={Bicycles, motorcycles, and models},
  author={David J. N. Limebeer and Robin S. Sharp},
  journal={IEEE Control Systems},
The development of bicycles and motorcycles since the first patented running machine, or draisine, in 1817 is described. Bicycle modeling and control were also discussed. These models include: derivatives or simplifications of Whipple's bicycle dynamics model in which the lateral motion constraints at the road contact are nonholonomic, requiring special techniques to form correct equations of motion; and the Timoshenko-Young model in which the steer angle and speed completely determine the… Expand
Dynamic Models of Bicycles and Motorcycles using Power Flow Approach
A procedure for the determination of the analytical form of dynamic models for bicycles and/or motorcycles through the characterization of the power flow between its components including the influence of gyroscopic effect and the interactions between the longitudinal, lateral and vertical dynamics of those vehicles. Expand
Model Based Analysis of Shimmy in a Racing Bicycle
A model of a racing bicycle, developed in Modelica language within the Dymola environment, is presented to investigate the dynamic response of the bicycle and its modes of vibration, referring in particular to shimmy. Expand
Pseudospectral motion planning for autonomous bicycles
The Gauss pseudospectral method is formulated as a dynamic constrained optimization problem subject to the dynamic constraints and the path constraints to acquire a motion trajectory with sufficiently small roll angles, which can increase the balance stability of the bicycle. Expand
Parametric Study of Bicycle Stability (P207)
A mathematical model of a bicycle is developed and verified and the model is used together with a physical parameter generation algorithm to evaluate the dependence of four important actual design parameters on the self-stability of a bicycles. Expand
The dynamics of the accelerating bicycle
  • D. Limebeer, A. Sharma
  • Engineering
  • 2008 3rd International Symposium on Communications, Control and Signal Processing
  • 2008
The purpose of this paper is to study the dynamics of the accelerating bicycle under straight-running and cornering conditions. If the bicycle is cornering at constant acceleration and roll angle, itExpand
Dynamic modeling and simulation of a bicycle stabilized by LQR control
A new approach to mathematical modeling of the bicycle based on the detailed nonlinear Whipple scientific description is presented, focused on the state space representation which is used to solve the control law and the optimal linear quadratic control is tested. Expand
Statistics of bicycle rider motion
An overview of bicycle and rider kinematic motions from a series of experimental treadmill tests is presented. The full kinematics of bicycles and riders were measured with an active motion captureExpand
On the Stability and Control of the Bicycle
After some brief history, a mathematical model of a bicycle that has become a benchmark is described. The symbolic equations of motion of the bicycle are given in two forms and the equations areExpand
Introducing the Effect of Bicyclist Stabilization Control in Microscopic Traffic Simulation
A bicycle dynamics model is developed that introduces characteristics of the bicycle dynamics in microscopic traffic simulation and indicates that the operational width of a bicyclist is a decreasing function of the operational speed as a result of the bicyclist stabilization process. Expand
Bicycle Anti-Lock Braking System Prototype Development
The passive and also the active safety systems of the vehicles evolved in the last decades. Beside the safety system of cars and trucks the smaller ve hic s like the motorbikes, scooters, e -bikesExpand


SUMMARY The paper is a review of the state of knowledge and understanding of the steering behaviour of single-track vehicles, with the main accent on vehicle design, and vehicle design analysis andExpand
Steering in bicycles and motorcycles
Steering a motorcycle or bicycle is counterintuitive; to turn right, you must steer left initially, and vice versa. You can execute this initially counter-directed turn by turning the handlebarsExpand
Effect of Frame Compliance on the Lateral Dynamics of Motorcycles
SUMMARY The lateral dynamics of an uncontrolled motorcycle, running on a straight, level road surface, is investigated in this paper. The structural compliances in the front and the rear frames ofExpand
Control for an autonomous bicycle
  • N. Getz, J. Marsden
  • Engineering, Computer Science
  • Proceedings of 1995 IEEE International Conference on Robotics and Automation
  • 1995
A controller is derived which, using steering and rear-wheel torque, causes a model of a riderless bicycle to recover its balance from a near fall as well as converge to a time parameterized path in the ground plane. Expand
A common problem with motorcycles of conventional design is pattering of the front wheel under braking levels which are usual in racing and sometimes employed on the road. This not only causesExpand
Lateral-Directional Motorcycle Dynamics and Rider Control
A theoretical and empirical view is taken of motorcycle lateral-directional dynamics, handling, and rider control behavior. The analytical development includes equations of motion for the vehicle andExpand
Bicycle dynamics and control: adapted bicycles for education and research
In this paper, the dynamics of bicycles is analyzed from the perspective of control. Models of different complexity are presented, starting with simple ones and ending with more realistic modelsExpand
A Motorcycle Model for Stability and Control Analysis
The observed dynamic behaviourof motorcycles suggests that interesting andsignificant motions occur that are not currentlyunderstood. The most elaborate modelling exercisecompleted so far hasExpand
Bicycles and Tricycles: An Elementary Treatise on Their Design and Construction
Foreword by David Gordon WilsonPublished in 1896, "Bicycles and Tricycles" was the first serious, scientifically based study of the bicycle. It begins with a general exposition of mechanicalExpand
The stability of the bicycle
ALMOST EVERYONE can ride a bicycle, yet apparently no one knows how they do it. I believe that the apparent simplicity and ease of the trick conceals much unrecognized subtlety, and I have spent someExpand