Lean and steering motorcycle dynamics reconstruction: An unknown-input HOSMO approach

Abstract

Abstract-This paper deals with state estimation of Powered Two Wheeled (PTW) vehicle and robust reconstruction of related unknown inputs. For this purpose, we consider a unknown input high order sliding mode observer (UIHOSMO). First, a motorcycle dynamic model is derived using JourdainŠs principle. In a second time, we consider both the observation of the PTW dynamic states, the reconstruction of the lean dynamics (roll angle φ(t)) and the rider's torque applied on the handlebar. Finlay, several simulation cases are provided to illustrate the efficiency of the proposed observer.

Estimation of Lateral Dynamics and Road Curvature for Two-Wheeled Vehicles: A HOSM Observer approach

“…In order to make the system strongly observable, we consider the roll angle as an unknown input (see Nehaoua et al (2013)). Thus, we obtain the following state representation:…”

“…The observation of the steering angle was proposed in De Filippi et al 2011with an LPV observer and scheduling gain technique missing the estimation convergence guarantee. More recently, a HOSM observer was proposed in Nehaoua et al (2013) and a Takagi-Sugeno unknown input observer in Ichalal et al (2013) to estimate the lateral dynamics and the steering torque. However, the lateral forces have been considered in their linear form and with known parameters.…”

Observer based controller for single track vehicles

“…The observation of steer angle was proposed in [3] with a scheduling gains missing the estimation convergence guarantee. More recently, a higher order sliding mode observer was proposed to estimate the lateral dynamics and steering torque in [12]. The same authors proposed also a study on state and unknown input estimation by exploring the Takagi-Sugeno systems and linear matrix inequalities in [6].…”

A Simple Investigation into the Stability of Lightweight Motorcycle

“…A number of important studies have been presented on motorcycle dynamics and control with regard to stability. Many previous studies have focused on stability under cornering condition by using simulation or modeling approach [14][15][16]. Recently attention was paid to the development of active control systems such as Advanced Rider Assistance Systems (ARAS) [17][18][19][20] Anti-Lock Braking System (ABS) and Traction Control Systems (TCS) using experimental approach [21].…”