Dynamic Modelling of Riderless Motorcycles for Agile Manoeuvres

Yizhai Zhang, Jingang Yi, Dezhen Song

Research output: Chapter in Book/Report/Conference proceedingChapter


This chapter presents a new nonlinear dynamic model for autonomous motorcycles for agile manoeuvres. The first section of the chapter provides a review of related work. In the second section, dynamic modelling of a riderless motorcycle is discussed. Next, motorcycle tyre dynamics model is presented and the tyre dynamics is integrated with the motorcycle dynamics. Comparing with the existing riderless motorcycle models, the new features of the proposed motorcycle dynamics model are twofold. First it relaxes the assumption of zero lateral velocity constraints at tyre contact points, so that the model can be used for agile manoeuvres when wheels run with both large longitudinal slips and lateral sideslips. Second, the motorcycle tyre models are taken into account and the previously-developed motorcycle dynamics is further extended.

Original languageEnglish (US)
Title of host publicationModelling, Simulation and Control of Two-Wheeled Vehicles
Number of pages16
ISBN (Electronic)9781118536391
ISBN (Print)9781119950189
StatePublished - Mar 31 2014

All Science Journal Classification (ASJC) codes

  • Engineering(all)


  • Agile manoeuvres
  • Motorcycle dynamics models
  • Riderless motorcycles
  • Tyre dynamics models


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