相关论文: The Dynamics of a Bicycle on a Pump Track -- First…

We combine power-meter measurements with GPS measurements to study the model that accounts for the use of power by a cyclist. The model takes into account the change in elevation and speed along with adverse effects of air, rolling and…

Cycling is a green transportation mode, and is promoted by many governments to mitigate traffic congestion. However, studies concerning the traffic dynamics of bicycle flow are very limited. This study experimentally investigated bicycle…

In this paper, we propose the reduced model for the full dynamics of a bicycle and analyze its nonlinear behavior under a proportional control law for steering. Based on the Gibbs-Appell equations for the Whipple bicycle, we obtain a…

Skateboarders perform a reciprocating motion on a curved ramp, called pumping, by moving their bodies up and down perpendicular to the ramp's surface. We propose a simple mechanical model for this pumping motion and solve the equation of…

We present a novel control-oriented motorcycle model and use it for computing racing lines on a nonplanar racetrack. The proposed model combines recent advances in nonplanar road models with the dynamics of motorcycles. Our approach…

Nonsmooth phenomena, such as abrupt changes, impacts, and switching behaviors, frequently arise in real-world systems and present significant challenges for traditional optimal control methods, which typically assume smoothness and…

For a moving bicycle, the power can be modelled as a response to the propulsion of the centre of mass of the bicycle-cyclist system. On a velodrome, an accurate modelling of power requires a distinction between the trajectory of the wheels…

Optimal control problems of tracking type for a class of linear systems with uncertain parameters in the dynamics are investigated. An affine tracking feedback control input is obtained by considering the minimization of an energy-like…

This paper proposes to combine a 10Hz motion planner based on a kinematic bicycle Model Predictive Control (MPC) and a 100Hz closed-loop Proportional-Integral-Derivative (PID) controller to cope with normal driving situations. Its novelty…

This paper concerns the geometry of bicycle tracks. We model bicycle as an oriented segment of a fixed length that is moving in the Euclidean plane so that the trajectory of the rear point is tangent to the segment at all times. The…

We formulate an optimization of a bicycle ascent time under the constraints of the average, maximum, and minimum powers. In contrast to the first part of this study, we do not restrict the departure to flying starts with an initial speed…

In this work I will obtain the system of nonlinear equations that correctly describes the motion of motorcycles and fast bicycles (above 30 km/hr) for the first time in literature. I will use it to calculate the lean angle during a turn and…

We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…

Bicycle traffic operations become increasingly important and yet are largely ignored in the traffic flow community, until recently. We hypothesize that there is no qualitative difference between vehicular and bicycle traffic flow dynamics,…

The motion of a vertically positioned bicycle is considered when a horizontal control force, which maybe both internal and external in relation to the bicycle, is applied to its pedal. Tangential forces of dryfriction obeying the Euler {…

Combining the advantages of standard bicycles and electrified vehicles, electric bikes (e-Bikes) are promising vehicles to reduce emission and traffic. The current literature on e-Bikes ranges from works on the energy management to the…

Our aim is to present a new model which encompasses pace optimization and motor control effort for a runner on a fixed distance. We see that for long races, the long term behaviour is well approximated by a turnpike problem. We provide…

This paper formulates optimal pacing of a cyclist on hilly terrain time-trials as a minimum-time optimal control problem. Maximal power of a cyclist serves as a time-varying constraint and depends on fatigue and recovery which are captured…

We present a mathematical model for optimizing breakaway strategies in competitive cycling, balancing power expenditure, aerodynamic drag, and crashing. Our framework incorporates probabilistic crash dynamics, allowing a cyclist's risk…

Dynamic/kinematic model is of great significance in decision and control of intelligent vehicles. However, due to the singularity of dynamic models at low speed, kinematic models have been the only choice under many driving scenarios. This…