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

Volume

63

Issue

7

fYear

2014

fDate

Sept. 2014

Firstpage

3116

Lastpage

3127

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;

fLanguage

English

Journal_Title

Vehicular Technology, IEEE Transactions on

Publisher

ieee

ISSN

0018-9545

Type

jour

DOI

10.1109/TVT.2014.2300633

Filename

6717178