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Conference papers
Estimation of lateral motorcycle dynamics and rider action with Luenberger observer
Abstract : This paper deals with lateral dynamics estimation of powered two-wheeled (PTW) vehicles. A linear parameter-varying (LPV) model of the motorcycle is presented and then transformed into a Takagi-Sugeno (TS) form in order to design the observer under the variation of the longitudinal velocity. This paper presents a new way to estimate every motorcycle dynamic states including unknown input (UI) by keeping a simple observer structure with a Luenberger observer in TS form. The observer convergence study is based on the Lyapunov theory associated with LMI tools and L2-gain to guaranty boundedness of the state estimation error. The effectiveness of the proposed solution is illustrated for a nominal and an uncertain simulation cases.
Cited literature [17 references]
https://hal.archives-ouvertes.fr/hal-01515601
Contributor : Hichem Arioui <>
Submitted on : Thursday, April 27, 2017 - 5:36:08 PM
Last modification on : Tuesday, June 30, 2020 - 11:56:09 AM
Long-term archiving on: : Friday, July 28, 2017 - 1:39:08 PM
Contributor : Hichem Arioui <>
Submitted on : Thursday, April 27, 2017 - 5:36:08 PM
Last modification on : Tuesday, June 30, 2020 - 11:56:09 AM
Long-term archiving on: : Friday, July 28, 2017 - 1:39:08 PM
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ITSC2016_PM_Review_vf.pdf
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