Title :
An Unknown-Input HOSM Approach to Estimate Lean and Steering Motorcycle Dynamics
Author :
Nehaoua, Lamri ; Ichalal, Dalil ; Arioui, Hichem ; Davila, Jorge ; Mammar, Said ; Fridman, Leonid M.
Author_Institution :
Lab. Inf., Biol. Integrative et Syst. Complexes, Univ. d´Evry Val-d´Essonne, Evry, France
Abstract :
This paper deals with state estimation of powered single-track vehicle and robust reconstruction of related unknown inputs. For this purpose, we consider an unknown-input high-order sliding-mode observer (UIHOSMO). First, a motorcycle dynamic model is derived using Jourdain´s principle. The strong observability of the obtained model is illustrated. Then, we consider both the observation of the powered two-wheeled (PTW) dynamic states and the reconstruction of the lean dynamics and the rider´s torque applied on the handlebar. Finally, several simulation cases are provided to illustrate the efficiency of the observer.
Keywords :
motorcycles; observers; steering systems; variable structure systems; vehicle dynamics; Jourdain principle; UIHOSMO; high-order sliding-mode observer; lean motorcycle dynamics; powered single-track vehicle; robust reconstruction; state estimation; steering motorcycle dynamics; unknown-input HOSM approach; Dynamics; Motorcycles; Observability; Observers; Vectors; Vehicle dynamics; HOSM; High-order sliding mode (HOSM); Motorcycle; Strong Observability; motorcycle; strong observability;
Journal_Title :
Vehicular Technology, IEEE Transactions on
DOI :
10.1109/TVT.2014.2300633
