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.
Document type :
Conference papers
Complete list of metadatas

Cited literature [19 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-00786279
Contributor : Hichem Arioui <>
Submitted on : Friday, February 8, 2013 - 11:50:24 AM
Last modification on : Monday, October 28, 2019 - 11:00:10 AM
Long-term archiving on: Thursday, May 9, 2013 - 3:55:42 AM

File

ACC_2013_Nehaoua.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-00786279, version 1

Collections

Citation

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⟩

Share

Metrics

Record views

623

Files downloads

1339