.. _sphx_glr_gallery_examples:

Examples
========



.. raw:: html

    <div class="sphx-glr-thumbnails">

.. thumbnail-parent-div-open

.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Meijaard et al. presents a benchmark minimal linear Carvallo-Whipple bicycle model ([Meijaard2007]_, [Carvallo1899]_, [Whipple1899]_) with 27 unique constant parameters and two coordinates: roll angle \phi and steer angle \delta.">

.. only:: html

  .. image:: /gallery/examples/images/thumb/sphx_glr_plot_benchmark_thumb.png
    :alt:

  :ref:`sphx_glr_gallery_examples_plot_benchmark.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Benchmark Carvallo-Whipple Model</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to work with a model that includes a feedback controller and how to use a simple derivative control with it. The TU Delft Bicycle Lab developed a bicycle with a steer motor that can be controlled based on sensor measurements from an inertial measurement unit mounted on the rear frame, a steer angle sensor, and a speed sensor. The bicycle is based on an e-bike model from Royal Dutch Gazelle:">

.. only:: html

  .. image:: /gallery/examples/images/thumb/sphx_glr_plot_balanceassistv1_thumb.png
    :alt:

  :ref:`sphx_glr_gallery_examples_plot_balanceassistv1.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Balance Assist E-Bike with Roll Rate Feedback Steer Control</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="The Carvallo-Whipple bicycle model assumes that the rider is rigidly fixed to the rear frame of the bicycle. Here the model is extended to include a rigid body representing the rider&#x27;s upper body (torso, arms, head) which can lean relative to the rear frame through a single additional degree of freedom. The model is defined in [Moore2012]_ chapter &quot;Extensions of the Whipple Model&quot;, section Leaning rider extension.">

.. only:: html

  .. image:: /gallery/examples/images/thumb/sphx_glr_plot_mooreriderlean2012_thumb.png
    :alt:

  :ref:`sphx_glr_gallery_examples_plot_mooreriderlean2012.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Leaning Rider Model</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="We have a :py~bicycleparameters.models.Meijaard2007WithFeedbackModel that applies full state feedback to the :py~bicycleparameters.models.Meijaard2007Model using eight feedback gains. These feedback gains can be chosen with a variety of methods to stabilize the system. This example shows how to apply LQR control.">

.. only:: html

  .. image:: /gallery/examples/images/thumb/sphx_glr_plot_lqr_thumb.png
    :alt:

  :ref:`sphx_glr_gallery_examples_plot_lqr.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Full State Feedback Control With LQR</div>
    </div>


.. thumbnail-parent-div-close

.. raw:: html

    </div>


.. toctree::
   :hidden:

   /gallery/examples/plot_benchmark
   /gallery/examples/plot_balanceassistv1
   /gallery/examples/plot_mooreriderlean2012
   /gallery/examples/plot_lqr