Motion control of a motorcycle using both feedforward input and simple feedback control

被引：0

作者：

Fujii, Fumitake ^{[1
]}

Nishino, Makoto ^{[1
]}

Wada, Kenzo ^{[1
]}

机构：

[1] Venture Business Incubation Center, Yamaguchi University, Ube shi, Yamaguchi, 755-8611

来源：

| 2008年 / Japan Society of Mechanical Engineers卷 / 74期

关键词：

Feedforward input calculation; Motorcycle control; Physically derived control; Preview;

D O I：

10.1299/kikaic.74.1493

中图分类号：

学科分类号：

摘要：

A new control algorithm to achieve trajectory following motion of a motorcycle is proposed in this paper. Presented algorithm is comprised of a feedforward term and a feedback term, the former of which intends to balance forces acting on a motorcycle that have adverse effects for roll motion stabilization, and the latter controls the steering and human lean angle to achieve trajectory following. What is to be emphasized is that the proposed control law is comparably simpler than the ones presented in the foregoing works on motorcycle motion control. Results of both numerical and actual experiments have been described to illustrate the effectiveness of the proposed algorithm.

引用

页码：1493 / 1500

页数：7