Human Periodic Rebalancing Modelling of a Rider-Bicycle System

In this paper, a rider-bicycle system model was developed and optimized which describes rider-bicycle dynamics and rider balancing control strategies in one cycle from unstable to balanced conditions. A dynamic model of rider-bicycle system was presented with the rider's upper-body movement integrated using the Lagrange method. Human balance control strategies were discussed including steering and upper-body movement control based on balancing principles of bicycle. A proportional-derivative-like structure with time delays was developed to describe steering and upper-body movement control models. Riding experiments were performed to validate and optimize the proposed riding balance control models. Finally, the system stability was analyzed and two rider control strategies were discussed separately.