Bicycles, motorcycles, and models

@article{Limebeer2006BicyclesMA,
  title={Bicycles, motorcycles, and models},
  author={D. Limebeer and R. Sharp},
  journal={IEEE Control Systems},
  year={2006},
  volume={26},
  pages={34-61}
}
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
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