Linear, Parameter-Varying wheel slip control for two-wheeled vehicles

This paper describes the application of linear parameter-varying (LPV) control design techniques to the problem of wheel slip control for two-wheeled vehicles equipped with electromechanical front wheel brakes. A nonlinear multi-body motorcycle simulator is employed to derive a control oriented wheel slip dynamic model. It is shown that, in order to devise a robust and performing controller, it is necessary to take into account the model dependence on velocity and wheel slip. This dependence is modeled via an LPV system and an LPV controller is synthesized. Nonlinear simulations indicate that the proposed controller achieves the needed robustness and performance.