Static H/spl infin/ Rider for Motorcycle roll stabilization

This paper is devoted for the development of a stabilized roll motion model of a motorcycle. The model includes both the rider leaning movement and steering torque action for stabilization. A feedback controller is first designed for robust stabilization by yaw angle feedback to the steering torque. A prefilter is then added in order to ensure reference model tracking. Control methods are based on the loop shaping and standard H_infin methods coupled with algorithms for controller order reduction. The controller is synthesized on a linear rider-motorcycle model and then tested on a model with nonlinear tire-road interaction forces. Simulation results show the effectiveness of the approach