The response of a motorcycle is heavily dependent on the rider's control actions, and consequently a means ofreplicating the rider's behaviour provides an important extension to motorcycle dynamics. The primary objective here is to develop effective path-following simulations and to understand how riders control motorcycles. Optimal control theory is applied to the tracking of roadway by a motorcycle, using a non-linear motorcycle model operating in free control by steering torque input. A path-following controller with road preview is designed by minimising tracking errors and control effort. Tight controls with high weightings on performance and loose controls with high weightings on control power are defined. Special attention is paid to the modelling of multipoint preview in local and global coordinate systems. The controller model is simulated over a standard single lane-change manoeuvre. It is argued that the local coordinates point of view is more representative of the way that a human rider operates and interprets information. The simulations suggest that for accurate path following, using optimal control, the problem must be solved by the local coordinates approach in order to achieve accurate results with short preview horizons. Furthermore, some weaknesses of the optimal control approach are highlighted here.


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    Title :

    Optimal control to modelling motorycle rider steering: Local versus global coordinate systems in rider preview


    Additional title:

    Optimale Regelung zur Modellierung der Motorradfahrer-Lenkung: Lokale versus globale Koordinatensysteme in der Voraussicht des Fahrers


    Contributors:
    Rowell, S. (author) / Popov, A.A. (author) / Meijaaard, J.P. (author)

    Published in:

    Vehicle System Dynamics ; 48 , 4 ; 429-456


    Publication date :

    2010


    Size :

    28 Seiten, 23 Bilder, 2 Tabellen, 21 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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    Rowell, S. / Popov, A. A. / Meijaard, J. P. | Taylor & Francis Verlag | 2010



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    Predictive control to modelling motorcycle rider steering

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