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, BioInformatique, Systèmes Complexes

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.

Mots clés: Luenberger; Index Terms-Motorcycle; Valida- tion and Simulator; Observation

Domaines: Automatique / Robotique

Pierre-Marie Damon, Dalil Ichalal, Hichem Arioui. Steering and Lateral Motorcycle Dynamics Estimation: Validation of Luenberger LPV Observer Approach. IEEE Transactions on Intelligent Vehicles, 2019, 4 (2), pp.277--286. ⟨10.1109/TIV.2019.2904384⟩. ⟨hal-02415924⟩