News and Events


2013 年 05 月 24 日
Seminar - Modeling and Path-Tracking Control for a Riderless-Bicycle System by Prof. Chih-Keng Chen

Date:   24 May 2013 (Friday)

Time:   3:00 pm – 4:00 pm

Venue:  EF305, The Hong Kong Polytechnic University


In this research, the equations of motion with nine generalized coordinates of a bicycle are developed. For constraints, rolling-without-slipping contact condition between wheels and ground is considered. For each wheel, two holonomic and two non-holonomic constraints are introduced in a set of differential-algebraic equations (DAEs). The dynamics model is validated by verifying the constraints, by comparison with a benchmark model.

The mathematic equations are then used to implement a simulation routine. To solve the DAEs of motion and ensure numerical accuracy in simulation of the bicycle system, computational methods for constraint handling are discussed and compared, including two methods to establish the underlying ODEs from the DAEs (coordinate reduction and embedding methods), and three numerical stabilization methods(Baumgarte, post-stabilization and sliding-mode-control post-stabilization).

The path-following control is decoupled in two steps. First, the roll-angle-tracking controller is studied to control the bicycle following a reference command by applying steering torque while ensuring the roll stability with consideration of several approaches, including PID, fuzzy logic, pole placement and sliding mode. In the second step, the path-tracking controller is developed to generate appropriate roll-angle reference for the roll-angle-tracking controller in order to control the bicycle following a pre-defined path, by using fuzzy logic controllers. The effectiveness of the control schemes is proven by simulations with the developed mathematic model. Performance of the control schemes are evaluated in different conditions, including error information, path preview, constant speed, varying speed, and external disturbance.


Professor Dr.-Ing. Chih-Keng Chen received his B.S. and M.S. degrees in Mechanical Engineering from Cheng-Kung University, Tainan, Taiwan in 1986 and 1988, and Ph.D. degree in systems and control engineering from Case Western Reserve University, Cleveland, USA in 1993. He is currently a professor in Department of Mechanical and Automation Engineering, Da-Yeh University(DYU) of Taiwan. From 2009 to 2012, Prof. Chen was the chairman in the same department and vice dean of engineering college in DYU. Currently, he is in charge the office of Foreign Affairs in DYU. Since 2009, Prof. Chen received the award of the distinguished professor in DYU. His current research interests are in vehicle dynamics, braking control, hydraulic hybrid vehicle and control applications for two-wheeled vehicles.