Title :
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
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;
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
DOI :
10.1109/ISCCSP.2008.4537227
