Title :
Motorcycle roll motion stabilization and observer design
Author :
Mammar, Saïd ; Slimi, Hamid ; Glaser, Sébastien
Author_Institution :
IBISC: Inf., Biol. Integrative et Syst. Complexes, Univ. d´´Evry val d´´Essonne, Evry, France
Abstract :
This paper is devoted for the development of a stabilized roll motion model of a motorcycle coupled to a PI observer for state and unknown input estimation. The feedback controller is designed for robust stabilization by yaw angle feedback to the steering torque, it is based on the loop shaping Hinfin method for static feedback controller design. The controller and the observer are designed on a linear rider-motorcycle model and then tested on a model with nonlinear tire-road interaction forces. Simulation and preliminary experimental results show the effectiveness of the approach.
Keywords :
Hinfin control; PI control; control system synthesis; feedback; motion control; motorcycles; observers; robust control; steering systems; torque; PI observer design; linear rider-motorcycle model; loop shaping Hinfin method; motorcycle roll motion stabilization; nonlinear tire-road interaction forces; robust stabilization; state estimation; static feedback controller design; steering torque; unknown input estimation; yaw angle feedback; Adaptive control; Couplings; Feedback loop; Force control; Motion estimation; Motorcycles; Observers; Robust control; State estimation; Testing; Motorcycle dynamics; PI observer; Roll dynamics; UI observer;
Conference_Titel :
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Conference_Location :
Thessaloniki
Print_ISBN :
978-1-4244-4684-1
Electronic_ISBN :
978-1-4244-4685-8
DOI :
10.1109/MED.2009.5164763
