This study deals with dynamics and control of a rider-motorcycle system model in Hamiltonian form. The model is established to account for not only the motorcycle dynamics but also changes in rider's postures. Tyre forces are treated as external forces and rider's control actions contain three actuation torques. The Hamiltonian system is subject to dissipation effects due to tyre forces and rider's control torques. In addition to the total Hamiltonian, a generalized free energy is employed in formulation. Lyapunov's second method provides sufficient conditions for stability. Variable structure system (VSS) control is used to account for stabilization control exerted by the rider. Simulation results validate the proposed method.


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    Title :

    Stabilization Control for Rider-Motorcycle Model in Hamiltonian Form


    Contributors:
    WU, J.C. (author) / LIU, T.S. (author)

    Published in:

    Vehicle System Dynamics ; 26 , 6 ; 431-448


    Publication date :

    1996-12-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Stabilization control for rider-motorcycle model in Hamiltonian form

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



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