抄録
For calculation of bicycle dynamics in a bicycle simulator, it is necessary to identify the control inputs from the rider as well as the virtual environments. The six control forces of the Stewart platform-based motion system are used for estimation of rider's reaction force, which is one of the important control inputs, but of which direct measurement is impractical. For effective estimation of rider's reaction force, the dynamic model of the motion system is derived incorporated with both analytical and experimental methods and the sliding mode controller with perturbation estimation is developed.
