Modeling and Control of Bicycle Dynamics

The ongoing trend of electrification has remarkably extended the operational range of bicycles and also the number of users. Moreover, it is an enabler for mechatronic systems controlling vehicle dynamics.
Compared to the automotive and motorcycle field, the dynamics of bicycles are a rather little researched domain. For multiple reasons, like a high center of gravity and a rider who is usually much heavier than the vehicle, it is a very special case of vehicle dynamics, which therefore requires a separate analysis. The aim of this thesis is modeling the longitudinal, lateral and vertical dynamics of bicycles in order to highlight the differences to classical vehicle dynamics, deriving how they affect the control of brake and suspension systems.