有人電動アシスト自転車のステアリング制御による姿勢安定化

―自転車モデルの導出と有人自転車の姿勢安定化―

抄録

In this study, we aim to design and realize an attitude stabilization control of a manned electrically-power-assisted bicycle during following a planned path using steering control. In order to realize the purpose, we derive a bicycle model for designing a control system for autonomous driving. In the process, we investigate Fan model, a nonlinear bicycle model. The model is sufficiently precise and catches the bicycle nonlinear dynamics to be used for the stabilizing control of the bicycle equipped with a steer-by-wire mechanism. We will also investigate effective operation support for preventing falls when manned.