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This study aims to develop a safer electrically-assisted bicycle by modifying the driving torque assist algorithm of commercial electrically-assisted bicycles. The assist control for commercial electrically-assisted bicycles is basically a proportional control. The proportional control leads to torque ripple and speed fluctuation due to the crank of pedals. Slowing down caused by speed fluctuation...
In this paper, we apply a fast model predictive control (MPC) for unmanned bicycle system (bike robot) with a configurable balancer. The balancer can be configured to a flywheel mode or a balancer mode by shifting the center of gravity of the balancer according to the situation of the bicycle system. We use MPC because of its advantage, i.e., it is applicable to multi-input multi-output systems, able...
In this paper, we propose a control algorithm for stabilizing of an unmanned bicycle at zero speed by using a nonlinear control based on an output-zeroing controller. The simplified model of the bicycle with the balancer is derived from Lagrangian and nonholonomic constraints with respect to translation and rotation relative to the ground plane. We derived a controller using a steering torque and...
In this paper, we propose a control algorithm for trajectory tracking control with self balancing of unmanned bicycle by using nonlinear control based on the output-zeroing controller. The simplified model of the bicycle with the balancer is derived from Lagrangian and nonholonomic constraints with respect to translation and rotation relative to the ground plane. We derived a controller using a steering...
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