Dynamics and Control of a Steer-by-Wire Bicycle

This work is focused on the modeling and ex-perimental validation of a steer-by-wire system for bicycles. The purpose for this system is to modify and enhance the lateral stability of a bi-cycle at low forward speeds. Case studies show additional capabilities of a steer-by-wire system on bicycles to influence its dynamic behavior, by providing a dynamic response comparable to a bicycle with a virtually different geometry or even the ability to stabilize an inherently unsta-ble bicycle. A steer-by-wire bicycle prototype was designed and build by replacement of the mechanical connection between handlebar- and steering-assembly by electronic actuators and a custom digital controller. The steer-by-wire bi-cycle prototype equipped with sensors, measur-ing the forward speed and roll-rate was subse-quently used to experimentally evaluate the pro-posed control algorithms. Preliminary rider tests showed a perceived near-to-identical behaviour of the steer-by-wire system to a mechanical con-nection. Adding lateral stability enhancement at low speed by active steer-torque control was per-ceived as beneficial by the rider