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.
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Pierre-Marie Damon, Mohammed El-Habib Dabladji, Dalil Ichalal, Lamri Nehaoua, Hichem Arioui. Estimation of lateral motorcycle dynamics and rider action with Luenberger observer. 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC 2016), Nov 2016, Rio de Janeiro, Brazil. pp.2392--2397, ⟨10.1109/ITSC.2016.7795941⟩. ⟨hal-01515601⟩

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