Active Stability-Augmentation Control of a Bicycle with Rider

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.