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Conference papers

Lean and Steering Motorcycle Dynamics Reconstruction : An Unknown Input HOSMO Approach

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 Jourdain's 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.
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Submitted on : Friday, February 8, 2013 - 11:50:24 AM
Last modification on : Thursday, July 1, 2021 - 11:38:04 AM
Long-term archiving on: : Thursday, May 9, 2013 - 3:55:42 AM


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  • HAL Id : hal-00786279, version 1



Lamri Nehaoua, Dalil Ichalal, Hichem Arioui, Saïd Mammar, Leonid Fridman. Lean and Steering Motorcycle Dynamics Reconstruction : An Unknown Input HOSMO Approach. The American Control Conference (ACC 2013), Jul 2013, Washington, DC, United States. pp.2821--2826. ⟨hal-00786279⟩



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