Lateral & Steering Dynamics Estimation for Single Track Vehicle: Experimental Tests

被引：10

作者：

Damon, P-M ^{[1
]}

Ichalal, D. ^{[1
]}

Nehaoua, L. ^{[1
]}

Arioui, H. ^{[1
]}

机构：

[1] Evry Val Essonne Univ UEVE, Informat Biol Integrat & Syst Complexes Lab, IBISC EA 4526, F-91020 Evry, France

来源：

IFAC PAPERSONLINE | 2017年 / 50卷 / 01期

关键词：

Experimentation; Motorcycle; Observation; Linear Parameter Varying (LPV) Systems; Unknown Input Estimation;

D O I：

10.1016/j.ifacol.2017.08.592

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with lateral and steering dynamics estimation of powered two-wheeled (PTW) vehicles. It presents an experimental validation of the Unknown Input Observer (UIO) addressed in Damon et al. (2016). A small scooter equipped with a multi-sensor architecture used to performed the test is introduced. A mathematical model of the scooter is derived using measured parameters on a Computer-Aided Design (CAD) model. Then the main design steps of the UIO are shortly remind. Finally, an urban driving scenario is presented to show the effectiveness of the proposed observer to estimate the lateral dynamics and the riders action in real riding scenario. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：3400 / 3405

页数：6

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