DocumentCode :
3161400
Title :
Model predictive for path following with motorcycles: application to the development of the pilot model for virtual prototyping
Author :
Frezza, Ruggero ; Beghi, Alessandro ; Saccon, Alessandro
Author_Institution :
Dipartimento di Ingegneria dell´´Informazione, Padova Univ., Italy
Volume :
1
fYear :
2004
fDate :
17-17 Dec. 2004
Firstpage :
767
Abstract :
Controlling a riderless motorcycle is a challenging problem because the dynamics are nonlinear and non-minimum phase. In this paper, an innovative control strategy is proposed for driving a motorcycle along a given path, tracking a speed profile given as a function of the arc-length of the path. The solution is based on model predictive control. Exploiting the possibility given by MPC to work on trajectories, we invert the cause-effect structure of the problem and act as if the roll angle was an input. We then determine, among a polynomial set of roll angle trajectories, the optimal one in terms of the error at preview distance from the target path. By inverting the dynamics, we compute the steering and longitudinal controls needed to track the computed roll trajectory.
Keywords :
motorcycles; path planning; position control; predictive control; remotely operated vehicles; vehicle dynamics; innovative control strategy; longitudinal control; model predictive control; path following; pilot model; riderless motorcycle control; roll angle trajectories; steering control; virtual prototyping; Analytical models; Computational modeling; Motorcycles; Predictive models; Production; Testing; Trajectory; Vehicle dynamics; Vehicles; Virtual prototyping;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Conference_Location :
Nassau
ISSN :
0191-2216
Print_ISBN :
0-7803-8682-5
Type :
conf
DOI :
10.1109/CDC.2004.1428754
Filename :
1428754
Link To Document :
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