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Title: Active Stability-Augmentation Control of a Bicycle with Rider
Authors: Rachlin, Conor
Advisors: Rowley, Clarence W
Department: Mechanical and Aerospace Engineering
Class Year: 2021
Abstract: The objective of this thesis was to develop an active stability-augmentation controller for a ridden bicycle using the linearized Whipple model modified to include steering angle saturation, with the goal of assisting a rider in maintaining stability of the vehicle. LQR and minimum energy control strategies were investigated, and an adjustable controller was developed to serve as the stability-augmentation system. A deliberately poor controller with a time lag was then developed to simulate an unskilled rider, and tested against the augmented system, which was able to maintain its stability even for a rider whose reaction time was double that of an ordinary human.
Type of Material: Princeton University Senior Theses
Language: en
Appears in Collections:Mechanical and Aerospace Engineering, 1924-2021

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