This paper deals with lateral dynamics estimation of powered two-wheeled (PTW) vehicles. A linear parameter-varying (LPV) model of the motorcycle is presented and then transformed into a Takagi-Sugeno (TS) form in order to design the observer under the variation of the longitudinal velocity. This paper presents a new way to estimate every motorcycle dynamic states including unknown input (UI) by keeping a simple observer structure with a Luenberger observer in TS form. The observer convergence study is based on the Lyapunov theory associated with LMI tools and L2-gain to guaranty boundedness of the state estimation error. The effectiveness of the proposed solution is illustrated for a nominal and an uncertain simulation cases.
Estimation of lateral motorcycle dynamics and rider action with Luenberger observer
2016-11-01
408329 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Lateral-directional motorcycle dynamics and rider control
Kraftfahrwesen | 1978
|Lateral-Directional Motorcycle Dynamics and Rider Control
SAE Technical Papers | 1978
|Motorcycle Dynamics and Rider Control
Taylor & Francis Verlag | 1977
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