Motorcycle Roll motion Stabilization and Observer Design

被引：0
作者：
Mammar, Said [1 ]
Slimi, Hamid [1 ]
Glaser, Sebastien [2 ]
机构：
[1] Univ Evry Val Essonne France, IBISC FRE CNRS 3190, 40 Rue Pelvoux,CE1455, F-91020 Evry, France
[2] INRETS LCPC, LIVIC Lab Interact Vehicule Infrastruct Cond, F-78000 Versailles, France
来源：
MED: 2009 17TH MEDITERRANEAN CONFERENCE ON CONTROL & AUTOMATION, VOLS 1-3 | 2009年
关键词：
Motorcycle dynamics; Roll dynamics; UI observer; PI observer; DESCRIPTOR SYSTEMS; STABILITY; STATE; MODEL;
D O I：
10.1109/MED.2009.5164763
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 is devoted for the development of a stabilized roll motion model of a motorcycle coupled to a PI observer for state and unknown input estimation. The feedback controller is designed for robust stabilization by yaw angle feedback to the steering torque, it is based on the loop shaping H-infinity method for static feedback controller design. The controller and the observer are designed on a linear rider-motorcycle model and then tested on a model with nonlinear tire-road interaction forces. Simulation and preliminary experimental results show the effectiveness of the approach.
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页码：1523 / 1528
页数：6
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