Dynamic stability of a rider-bicycle system: Analysis and experiments

Pengcheng Wang, Jingang Yi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations


Understanding how human balance and control bicycles is helpful for not only designing bicycle-based rehabilitation devices but also studying physical human-machine interactions. We present stability analysis of a rider-bicycle system under the rider's steering and upper-body movement balancing controls. The dynamic model of rider-bicycle system is first constructed to integrate the rider's upper-body movement with the moving platform. We then present a human balance control strategy based on the human riding experiments. The closed-loop system stability is analyzed and discussed. Quantitative influences of the bicycle physical parameters, human control gains and human control time delays are also demonstrated and discussed.

Original languageEnglish (US)
Title of host publicationACC 2015 - 2015 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479986842
StatePublished - Jul 28 2015
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: Jul 1 2015Jul 3 2015

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2015 American Control Conference, ACC 2015
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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