TY  - JOUR
PY  - 2012//
TI  - Modeling the manually controlled bicycle
JO  - IEEE transactions on systems, man, and cybernetics. Part A, systems and humans
A1  - Hess, Ronald
A1  - Moore, Jason Keith
A1  - Hubbard, Mont
SP  - 545
EP  - 557
VL  - 42
IS  - 3
N2  - 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>
LA  - en
SN  - 1083-4427
UR  - http://dx.doi.org/10.1109/TSMCA.2011.2164244
ID  - ref1
ER  -