Modeling of a Two-Wheeled Vehicle Compensated for Exact Contact of the Wheel to the Ground Plane and Simulation

Abstract

This research proposes a kinematics and a dynamics models of a two-wheeled vehicle, such as a bicycle or a motorcycle. The modeling of the two-wheeled vehicle has been studied extensively for many years, this paper derives a more exact kinematic model by adding a holonomic condition which compensates exact contact of the front wheel to the ground plane against the handle operation. Using the Lagrange equation subject to the holonomic condition and five non-holonomic conditions for the rear and front wheels, a dynamic model of the two-wheeled vehicle is also derived. Simulation results are given for the kinematic motion and dynamic motion