Unknown-Input Observer Design for Motorcycle Lateral Dynamics: TS Approach

Mohammed El-Habib Dabladji (1) , Dalil Ichalal (1) , Hichem Arioui (1) , Saïd Mammar (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

In this paper, a nonlinear observer is designed in order to estimate the lateral dynamics of motorcycles. A nonlinear model of motorcycle's lateral dynamics is considered and is transformed in a Takagi-Sugeno (TS) exact form. An unknown input (UI) nonlinear observer is then designed in order to reconstruct the state variables whatever the forward velocity variations. The observer convergence study is based on the Lyapunov theory. The boundedness of the state estimation error is guaranteed thanks to the Input to State Stability (ISS) property. The observer has been tested on a nonlinear multibody model.

Mots clés: Unknown input Observer; Two-Wheeled Vehicles; ISS; LMI

Domaines: Automatique / Robotique

Mohammed El-Habib Dabladji, Dalil Ichalal, Hichem Arioui, Saïd Mammar. Unknown-Input Observer Design for Motorcycle Lateral Dynamics: TS Approach. Control Engineering Practice, 2016, 54, pp.12--26. ⟨10.1016/j.conengprac.2016.05.005⟩. ⟨hal-01317164⟩