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Modeling and control of single-track vehicles

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TitleInfo
Title
Modeling and control of single-track vehicles
SubTitle
a human-machine-environment interactions perspective
Name (type = personal)
NamePart (type = family)
Zhang
NamePart (type = given)
Yizhai
NamePart (type = date)
1983-
DisplayForm
yizhai zhang
Role
RoleTerm (authority = RULIB)
author
Name (type = personal)
NamePart (type = family)
Yi
NamePart (type = given)
Jingang
DisplayForm
Jingang Yi
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
chair
Name (type = personal)
NamePart (type = family)
Zou
NamePart (type = given)
Qingze
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Qingze Zou
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
internal member
Name (type = personal)
NamePart (type = family)
Benaroya
NamePart (type = given)
Haym
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Haym Benaroya
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
internal member
Name (type = personal)
NamePart (type = family)
Gajic
NamePart (type = given)
Zoran
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Zoran Gajic
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
outside member
Name (type = corporate)
NamePart
Rutgers University
Role
RoleTerm (authority = RULIB)
degree grantor
Name (type = corporate)
NamePart
Graduate School - New Brunswick
Role
RoleTerm (authority = RULIB)
school
TypeOfResource
Text
Genre (authority = marcgt)
theses
OriginInfo
DateCreated (qualifier = exact)
2014
DateOther (qualifier = exact); (type = degree)
2014-01
Place
PlaceTerm (type = code)
xx
Language
LanguageTerm (authority = ISO639-2b); (type = code)
eng
Abstract (type = abstract)
Single-track vehicles, such as motorcycles and bicycles, not only provide an everyday transportation means and recreational sport, but also offer an excellent platform to study physical human-machine-environment (HME) interactions. The main goal of this dissertation is to present a modeling and control system design framework for HME interactions in single-track vehicle systems. The dissertation focuses on three aspects: autonomous vehicle design, vehicle-environment interaction, and human-vehicle interaction. First, we propose novel modeling and control designs for riderless single-track vehicle to achieve agile maneuver navigation and stationary balancing. To achieve agile maneuver, the zero lateral velocity nonholonomic constraint at the tire contact point is relaxed. An empirical tire-road friction model is explicitly considered in the dynamic model. An external/internal convertible (EIC) model-based controller is designed for both trajectory tracking and path following strategies. Two different control designs are then presented to balance the stationary bicycle through steering control and gyroscopic actuator control, respectively. To capture the vehicle-environment interaction, the second part of the dissertation focuses on the study of the tire-road interaction. A high-fidelity tire model is proposed and built on the calculation of the deformation and friction force distributions in stick-slip transition. An in-situ sensing technique is also developed to directly measure the friction force distribution. The model and the sensing development can be further used for facilitating real-time friction parameter estimation and vehicle safety control. The third part of the dissertation mainly discusses the human-vehicle interaction. A dynamic model is first proposed to capture the physical rider-bicycle interaction. A novel pose estimation approach is developed to integrate the wearable inertial sensors with on-board force sensors. A balancing design is finally presented to control the stationary rider-bicycle interaction. All the modelings and control designs in the dissertations are validated through extensive simulations and experiments. The outcomes of the dissertation provide not only a modeling and control framework but also a physical experimental platform to study the unstable HME interactions. We discuss the future research direction at the end of the dissertation.
Subject (authority = RUETD)
Topic
Mechanical and Aerospace Engineering
RelatedItem (type = host)
TitleInfo
Title
Rutgers University Electronic Theses and Dissertations
Identifier (type = RULIB)
ETD
Identifier
ETD_5209
PhysicalDescription
Form (authority = gmd)
electronic resource
InternetMediaType
application/pdf
InternetMediaType
text/xml
Extent
xx, 166 p. : ill.
Note (type = degree)
Ph.D.
Note (type = bibliography)
Includes bibliographical references
Note (type = statement of responsibility)
by Yizhai Zhang
Subject (authority = ETD-LCSH)
Topic
Human-machine systems
Subject (authority = ETD-LCSH)
Topic
Vehicles
Subject (authority = ETD-LCSH)
Topic
Human powered vehicles
Subject (authority = ETD-LCSH)
Topic
Mechanical engineering
RelatedItem (type = host)
TitleInfo
Title
Graduate School - New Brunswick Electronic Theses and Dissertations
Identifier (type = local)
rucore19991600001
Location
PhysicalLocation (authority = marcorg); (displayLabel = Rutgers, The State University of New Jersey)
NjNbRU
Identifier (type = doi)
doi:10.7282/T32B8W39
Genre (authority = ExL-Esploro)
ETD doctoral
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Rights

RightsDeclaration (ID = rulibRdec0006)
The author owns the copyright to this work.
RightsHolder (type = personal)
Name
FamilyName
zhang
GivenName
yizhai
Role
Copyright Holder
RightsEvent
Type
Permission or license
DateTime (encoding = w3cdtf); (qualifier = exact); (point = start)
2013-12-15 01:54:20
AssociatedEntity
Name
yizhai zhang
Role
Copyright holder
Affiliation
Rutgers University. Graduate School - New Brunswick
AssociatedObject
Type
License
Name
Author Agreement License
Detail
I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
Copyright
Status
Copyright protected
Availability
Status
Open
Reason
Permission or license
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RULTechMD (ID = TECHNICAL1)
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ETD
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windows xp
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