A virtual rider for motorcycles: An approach based on optimal control and maneuver regulation

Author

Saccon, Alessandro ; Hauser, John ; Beghi, Alessandro

Author_Institution

Dip. di Ing. dell´´Inf., Univ. di Padova, Padova

fYear

2008

Firstpage

243

Lastpage

248

Abstract

Recently developed optimization and nonlinear control strategies are applied to drive a multi-body motorcycle model along a specified path with an associated velocity profile. The resulting control scheme is based on three main pillars: a dynamic inversion procedure to compute the input-state trajectories corresponding to a desired maneuvering task, an inverse optimal control heuristic for designing closed loop dynamics, and a maneuver regulation controller to overcome limitations of standard trajectory tracking scheme. The controller (virtual rider) is implemented on a commercial simulation software. Simulation results are presented.

Keywords

closed loop systems; control system synthesis; motorcycles; nonlinear control systems; optimal control; position control; vehicle dynamics; closed loop dynamics; dynamic inversion procedure; inverse optimal control heuristic; maneuver regulation; multi-body motorcycle model; nonlinear control strategies; trajectory tracking scheme; virtual rider; Aerodynamics; Assembly; Computational modeling; Motorcycles; Open loop systems; Optimal control; Trajectory; Vehicle driving; Vehicle dynamics; Vehicles; Maneuver regulation; dynamic inversion; motorcycle; multi-body model; single-track vehicles; virtual rider;

fLanguage

English

Publisher

ieee

Conference_Titel

Communications, Control and Signal Processing, 2008. ISCCSP 2008. 3rd International Symposium on

Conference_Location

St Julians

Print_ISBN

978-1-4244-1687-5

Electronic_ISBN

978-1-4244-1688-2

Type

conf

DOI

10.1109/ISCCSP.2008.4537227

Filename

4537227