Roll Angle Observer-Based Controller Design for Powered Two-Wheelers

Habib Dabladji (1) , Dalil Ichalal (1) , Hichem Arioui (1) , Said Mammar (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

The present work deals with the trajectory tracking for an unmanned motorcycle using observer-based-controller design. The non-linear parameter varying system used for the development is converted to a Takagi-Sugeno (TS) fuzzy system. The design of the observer-based controller is based on the Lyapunov approach and the Linear Ma-trix Inequality (LMI) formulation. Suffi-cient conditions are derived to prove the Input to State Stability (ISS) property and trajectory error conver-gence of the closed-loop system. We sug-gest ensuring a best profile tracking of the PTW in terms of roll preview (trajectory) for large range of longitudinal velocities. To improve the time response of the con-troller, a predictive generator is inserted.. Finally, simulation results are provided to confirm the suitability of the proposed technique.

Domaines: Automatique / Robotique

Habib Dabladji, Dalil Ichalal, Hichem Arioui, Said Mammar. Roll Angle Observer-Based Controller Design for Powered Two-Wheelers. Symposium on the Dynamics and Control of Single Track Vehicles, Nov 2013, Narashino, Japan. pp.80 - 86. ⟨hal-00873997⟩