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Journal articles
Steering and Lateral Motorcycle Dynamics Estimation: Validation of Luenberger LPV Observer Approach
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.
Cited literature [34 references]
https://hal.archives-ouvertes.fr/hal-02415924
Contributor : Frédéric Davesne <>
Submitted on : Thursday, December 19, 2019 - 11:34:12 AM
Last modification on : Monday, July 6, 2020 - 5:45:00 PM
Long-term archiving on: : Friday, March 20, 2020 - 4:16:54 PM
Contributor : Frédéric Davesne <>
Submitted on : Thursday, December 19, 2019 - 11:34:12 AM
Last modification on : Monday, July 6, 2020 - 5:45:00 PM
Long-term archiving on: : Friday, March 20, 2020 - 4:16:54 PM
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TIV_2019_vf_PMD_DI_HA.pdf
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