DocumentCode :
630725
Title :
Lean and steering motorcycle dynamics reconstruction: An unknown-input HOSMO approach
Author :
Nehaoua, Lamri ; Ichalal, Dalil ; Arioui, Hichem ; Mammar, Said ; Fridman, L.
Author_Institution :
IBISC Lab. (EA-4526), Evry Val d´Essonne Univ., Evry, France
fYear :
2013
fDate :
17-19 June 2013
Firstpage :
2821
Lastpage :
2826
Abstract :
This paper deals with state estimation of Powered Two Wheeled vehicle (PTWV) and robust reconstruction of related unknown inputs. For this purpose, we consider a unknown-input high order Sliding-mode observer (UIHOSMO). First, a motorcycle dynamic model is derived using Jourdain´s principle. In a second time, we consider both the observation of the PTWV dynamic states, the reconstruction of the lean dynamics (roll angle φ(t)) and the rider´s torque applied on the handlebar. Finlay, several simulation cases are provided to illustrate the efficiency of the proposed observer.
Keywords :
motorcycles; observers; steering systems; variable structure systems; vehicle dynamics; Jourdain´s principle; PTWV dynamic states; UIHOSMO; handle bar; lean dynamics; lean motorcycle dynamics reconstruction; motorcycle dynamic model; powered two wheeled vehicle; rider torque; steering motorcycle dynamics reconstruction; unknown-input HOSMO approach; unknown-input high order Sliding-mode observer; Dynamics; Motorcycles; Observability; Observers; Torque; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
ISSN :
0743-1619
Print_ISBN :
978-1-4799-0177-7
Type :
conf
DOI :
10.1109/ACC.2013.6580262
Filename :
6580262
Link To Document :
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