@article{ref1,
title="Modeling the manually controlled bicycle",
journal="IEEE transactions on systems, man, and cybernetics. Part A, systems and humans",
year="2012",
author="Hess, Ronald and Moore, Jason Keith and Hubbard, Mont",
volume="42",
number="3",
pages="545-557",
abstract="A control-theoretic model of the bicycle rider is developed. The model has its origins in pilot modeling efforts previously reported in the literature. A handling-quality metric that was employed in pilot/vehicle analysis is adopted for use in estimating the task-independent handling qualities of bicycles. The resulting model is parameterized by five gains, two fixed second-order filters, and a preview time. Analysis and computer simulation of the rider/bicycle system are undertaken using six linear models of existing bicycles at three different velocities. The rider's task consisted of a 2-m lane-change maneuver and return. Lane tracking performance was comparable for all bicycles at each velocity. Distinct variations in estimated handling-quality levels were evident in the analysis that indicated that bicycle velocities, rather than differences in the bicycles themselves, dominated the handling-quality predictions. A brief discussion of a rider control model for hands-free riding and a possible approach for model identification concludes this paper.<p /> <p>Language: en</p>",
language="en",
issn="1083-4427",
doi="10.1109/TSMCA.2011.2164244",
url="http://dx.doi.org/10.1109/TSMCA.2011.2164244"
}