Lateral motorcycle dynamics and rider action estimation: An LPV unknown input observer approach

Steering and Lateral Motorcycle Dynamics Estimation: Validation of Luenberger LPV Observer Approach

“…In 2008, precursor work was published about state estimation for motorcycles in [14]. In a first time, researchers have commonly addressed the estimation of the lean angle [15], [16], [17] and rapidly the aim was to estimate the whole dynamics states [18], [19] and more recently in [20] and [21]. These works dealing with P2WV dynamics estimation highlight the strong potential of these techniques.…”

“…Indeed, even if strain gauges can give an idea about this torque, it is currently impossible to identify the distribution between the pure rider's action and the road aligning moment contribution. In this context, several complex approaches were investigated as in [21] and [25]. In the latter, the authors proposed the use of an unknown input observers to bypass the unmeasurability of τ.…”

“…In our case, these three sensors guarantee the observability conditions of the system (12). Let us recall that the measures statesψ,φ and a y , in the observation equation (21) are expressed in the reference frame whereas the sensors provide the measures in the body-fixed frame. They are considered as measured since their algebraic expressions only depends on the measurements as explained in the equations (17)- (20).…”

Road Geometry and Steering Reconstruction for Powered Two Wheeled Vehicles

“…r represents the number of local submodels defines by r = 2 n ρ where n ρ = 2 is the number of non-linearities (for more details, please refer to [15], [20], [21]) . Then the sector nonlinear approach is used to transform the problem into a (TS) form :…”

Rider weight consideration for observer design with an application to the estimation of the lateral motorcycle dynamics and rider's action

“…Among all the litterature, one can cite [1] and [2] where authors adressed longitudinal dynamic estimation whereas in [3], [4], [5], [6], [7] and [8] authors designed observers for lateral dynamics. An important difficulty during the observer's design for PTWV is the uncertainty of some parameters like the tire's properties (camber stiffness, cornering stiffness, radius of the wheel, etc.…”