An Active Stabilizing Assistant System for a Bicycle: Modeling and Control Strategies

In this study, a design of an active stabilizing assistant system (ASAS) is proposed. Based on this design, a nonlinear model of the assisted bicycle with a rider is developed. This nonlinear model consists of 14 degree of freedom with the wheels are assumed as thin disks. To control the system, two model predictive controllers (MPCs) have been developed. Where the first MPC is to simulate the rider’s behaviors and the second one is used to control the ASAS. In order to evaluate the performance of the ASAS, comparisons between the assisted bicycle and a normal bicycle are discussed in four cases of simulation. The results show that the ASAS can help riders to stabilize the bike with better performanc