Analysis of Rider and Single-Track-Vehicle System, Its Application to Computer-Controlled Bicycle

Abstract Single-track-vehicles are dynamically more unstable and more complicated than automobiles, so that a rider must play a more important role in a man-machine system. The purpose of this paper is to analyze the lateral and directional stabilities of this rider-cycle system, and then to make a laboratory facility for a computer-controlled cycle. A dynamical model is presented in a state space form, as a feedback control system with two inputs, handlebar steering and rider's upper body leaning. A rider control model is a preview output feedback model. This closed loop system is analyzed with the automatic control theory. The experimental bicycle is made, which is controlled by a micro-computer. The state of the cycle is measured with an acoustic method. The cycle is designed to run on a moving belt apparatus. According to the lane change experiment, the cycle runs successfully, and the results of dynamical responses are proved by the theoretical analysis.