A Virtual Motorcycle Rider Based on Automatic Controller Design

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Abstract

This paper introduces a new and freely available Modelica library for the purpose of simulation, analysis and control of bicycles and motorcycles (single-track vehicles). The library is called MotorcycleLib and focuses on the modeling of virtual riders based on automatic controller design.

For the single-track vehicles, several models of different complexity have been developed. To validate these models and their driving performance, virtual riders are provided. The main task of a virtual rider is to track either a roll angle profile or a pre-defined trajectory using path-preview information. Both methods are implemented and several test tracks are also included in the library.

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Last modified: June 16, 2010 -- © François Cellier