Using Model Predictive Control Steer-by-Wire Bicycle for Performance Assistance


Prior research has shown that tracking performance can be improved in a human-in-the-loop control task by inserting a robot in between the human and the environment and utilizing Model Predictive Control (MPC) with a short even horizon to assist control. The MPC controller was found to be favored by the person performing the task to more typically used controllers such as PID. The goal of this project is to extend this idea to the more complex task of making lane changes on a bicycle. The student's job will be to develop an MPC based assistive control algorithm for the TU Delft Steer-by-Wire bicycle (shown above) and test the performance of the controller through a series of treadmill based lane change tasks.

How to Apply

Send an email to j.k.moore@tudelft.nl with the title of the project in the subject line. Include an approximately half-page motivation letter explaining why you want to work in the Bicycle Lab on this project, what relevant skills you have, and your current resume or C.V.