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.


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    Title :

    Estimation of lateral motorcycle dynamics and rider action with Luenberger observer


    Contributors:
    Damon, P-M (author) / Dabladji, H. (author) / Ichalal, D. (author) / Nehaoua, L. (author) / Arioui, H. (author)


    Publication date :

    2016-11-01


    Size :

    408329 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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