Steering and Lateral Motorcycle Dynamics Estimation: Validation of Luenberger LPV Observer Approach

Pierre-Marie Damon 1 Dalil Ichalal 1 Hichem Arioui 1
1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
Abstract : In this paper, we proposed a realistic validation of the nonlinear Luenberger observer initially introduced in one of our recent work. The validation is performed by means of a commercial motorcycle simulator. The previous paper has introduced the design of a nonlinear Luenberger observer to simultaneously estimate both the motorcycle lateral dynamics and the rider action. The vehicle lateral motion is described with a two-body linear model which takes into account the time-varying longitudinal velocity. Then, the Takagi-Sugeno approach combined with the Lyapunov theory, linear matrix inequalities tools and L 2 -gain property are used to demonstrate the observer's convergence through an inputto-error stability. Finally, the effectiveness and the robustness of the observer are illustrated on three different realistic riding scenarios by means of co-simulation of Matlab/Simulink and the well-known multibody simulator BikeSim. Finally, the estimation performances are compared to previous works.
Keywords : Index Terms-Motorcycle Observation Luenberger Valida- tion and Simulator
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Pierre-Marie Damon, Dalil Ichalal, Hichem Arioui. Steering and Lateral Motorcycle Dynamics Estimation: Validation of Luenberger LPV Observer Approach. IEEE Transactions on Intelligent Vehicles, Institute of Electrical and Electronics Engineers, 2019, 4 (2), pp.277--286. ⟨10.1109/TIV.2019.2904384⟩. ⟨hal-02415924⟩

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