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 H∞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.


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    Titel :

    Experimental Validation of Static H∞Rider for Motorcycle Model Roll Stabilization


    Beteiligte:
    Mammar, S. (Autor:in) / Espie, S. (Autor:in) / Glaser, S. (Autor:in) / Larnaudie, B. (Autor:in)


    Erscheinungsdatum :

    01.01.2006


    Format / Umfang :

    3386277 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Experimental Validation of Static H Rider for Motorcycle Model Roll Stabilization

    Mammar, S. / Espie, S. / Glaser, S. et al. | British Library Conference Proceedings | 2006



    Stabilization Control for Rider-Motorcycle Model in Hamiltonian Form

    WU, J.C. / LIU, T.S. | Taylor & Francis Verlag | 1996


    Stabilization control for rider-motorcycle model in Hamiltonian form

    Wu,J.C. / Liu,T.S. / National Chiao Tung Univ.,Dep.of Mech.Engng.,CN | Kraftfahrwesen | 1996