Experimental Validation of Static H∞ Rider for Motorcycle Model 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 Hinfin 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. Finally model outputs are compared to measure obtained with a prototype motorcycle