1m) Linearized Single Degree of Freedom Model [doc]

This paper was the first of two papers for a multi-input multi-output controls course. It was a collaborative effort between three students. We developed the equations of motion for one of the simplest bicycle models. The model and the derivation were based on the one presented in chapter 7 of [1b]. We derived the equation of motion and assessed the model for controllability and observability.

2m) SISO Control of a Bicycle-Rider System [pdf]

This the second paper for the multi-input multi-output controls course. We developed two controllers based on modern control methods and compared them to using classical control methods. The slides for the final presentation for this project are also available.

3m) Low Speed Bicycle Stability: The Effects of Geometric Parameters [pdf]

This is a paper I wrote for a class project in a multibody dynamics course. The main purpose was to develop the equations of motion for a multibody system using Autolev, a symbolic dynamics software built around Kane's method. I developed the equations of motion of an uncontrolled Whipple bicycle model using Autolev then linearized the equations in MATLAB and computed the eigenvalues of the system to check for stability. This was done for various changes to the bicycle's frame geometry and plotted. After I had developed this program I came across JBike6 which did almost exactly what my program did and was a bit more robust. However, my program did have a way to generate the inertia matrices of the bicycle and rider.

Appendices: 1. bike_inertia.m 2. FINDQ8.AL 3. pitch.m 4. BICYCLE14.AL 5. schwab.m

Additional files: evalprimes.m