Experimental Validation of Static H<inf>∞</inf>Rider for Motorcycle Model Roll Stabilization

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

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

Mammar, S. / Espie, S. / Glaser, S. / Larnaudie, B.

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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Title :

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

Contributors:

Mammar, S. (author) / Espie, S. (author) / Glaser, S. (author) / Larnaudie, B. (author)

Published in:

2006 IEEE Intelligent Vehicles Symposium ; 498-503

Publication date :

2006-01-01

Size :

3386277 byte

ISBN :

DOI :

https://doi.org/10.1109/IVS.2006.1689677

Type of media :

Conference paper

Type of material :

Electronic Resource

Language :

English

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