(x i , y i ) signifie que : z f = F (x f , y f ) z r = F (x r ,
On the Estimation of Longitudinal Dynamics of Powered Two-Wheeled Vehicles, 14 th IEEE European Control Conference, pp.15-17, 2015. ,
Estimation of Lateral Dynamics and Road Curvature for Two-Wheeled Vehicles: A HOSM Observer approach, th IFAC World Congress, pp.24-29, 2014. ,
DOI : 10.3182/20140824-6-ZA-1003.02330
URL : https://hal.archives-ouvertes.fr/hal-00964085
Roll Angle Observer-Based Controller Design for Powered Two-Wheelers, Bicycle and Motorcycle Dynamics international conference, pp.10-13, 2013. ,
Observer based controller for single track vehicles, 52nd IEEE Conference on Decision and Control, pp.10-13, 2013. ,
DOI : 10.1109/CDC.2013.6761067
URL : https://hal.archives-ouvertes.fr/hal-00867305
Observer design for motorcycle lean and steering dynamics estimation: A Takagi-Sugeno approach, 2013 American Control Conference, pp.17-19, 2013. ,
DOI : 10.1109/ACC.2013.6580723
URL : https://hal.archives-ouvertes.fr/hal-01113051
Unknown-Input Observer Design for Motorcycle Lateral Dynamics : TS Approach, soumis à Control Engineering Practice ,
DOI : 10.1016/j.conengprac.2016.05.005
URL : https://hal.archives-ouvertes.fr/hal-01317164/document
Sliding Mode Control and Optimal Braking for Motorcycles, soumis à IEEE American Control Conference, pp.6-8, 2016. ,
Vers un système de sécurité semi-actif pour les véhicules à deux-roues motorisés, 5 'eme, Journées Doctorales Journées Nationales MACS, pp.11-12, 2013. ,
Observateurs non-linéaires pour l'estimation de la dynamique latérale des véhicules à deux-roues Intelligent transport system for motorcycle safety and issues, European Journal of Scientific Research, vol.28, issue.4, pp.600-611, 2009. ,
Etude approfondie sur les accidents en motocycles, 2008. ,
Cooperative systems for vulnerable road users : The concept of the watchover project, 13th ITS World Congress, 2006. ,
Conception d'observateurs non linèaires par approche multimodèle : application au diagnostic, 2004. ,
Recherche sur les accidents impliquant un deux roues motorisé, 2005. ,
Linear Matrix Inequalities in System and Control Theory Tyre modelling for use in vehicle dynamics studies, SIAM, vol.15, 1987. ,
Safe braking with motorcycle ABS, 2015. ,
Roll angle estimation in two-wheeled vehicles. Control Theory Applications, IET, vol.3, issue.1, pp.20-32, 2009. ,
DOI : 10.1049/iet-cta:20080052
Radschlupf-regelsysteme [Car01] Emmanuel Carvallo. Théorie du mouvement du monocycle. part 2 : Théorie de la bicyclette, J. Ec. Polytech. Paris, vol.1, issue.6, pp.161-118, 1901. ,
A real-time computer vision system for vehicle tracking and traffic surveillance, Transportation Research Part C: Emerging Technologies, vol.6, issue.4, pp.271-288, 1998. ,
DOI : 10.1016/S0968-090X(98)00019-9
A new nonlinear observer for tire/road distributed contact friction, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475), pp.2246-2251, 2003. ,
DOI : 10.1109/CDC.2003.1272952
Isa uk-intelligent speed adaptation-final report, 2008. ,
H/sub ???/ design with pole placement constraints: an LMI approach, IEEE Transactions on Automatic Control, vol.41, issue.3, pp.358-367, 1996. ,
DOI : 10.1109/9.486637
A Motorcycle Multi-Body Model for Real Time Simulations Based on the Natural Coordinates Approach, Vehicle System Dynamics, vol.37, issue.6, pp.423-447, 2002. ,
DOI : 10.1076/vesd.37.6.423.3523
Necessary and sufficient conditions for uniform semiglobal practical asymptotic stability : Application to cascaded systems The effects of aerodynamics on the performance and stability of high speed motorcycles, Proc. 2nd AIAA Symp. Aerodynamics Sport Competition AutomobilesCos06] V. Cossalter. Motorcycle Dynamics. Lulu. com, pp.421899-1906, 1974. ,
Traction-Control-Oriented State Estimation for Motorcycles, IEEE Transactions on Control Systems Technology, vol.21, issue.6, pp.2400-2407, 2013. ,
DOI : 10.1109/TCST.2013.2238539
On optimal motorcycle braking, Control Engineering Practice, vol.16, issue.6, pp.644-657, 2008. ,
DOI : 10.1016/j.conengprac.2007.08.001
Electronic throttle control for ride-by-wire in sport motorcycles, IEEE International Conference on Control Applications, pp.233-238, 2008. ,
Electronic throttle control for ride-by-wire in sport motorcycles, 2008 IEEE International Conference on Control Applications, 2008. ,
DOI : 10.1109/CCA.2008.4629640
Fuzzy uncertain observer with unknown inputs for Lane departure detection, Proceedings of the 2010 American Control Conference, pp.688-693, 2010. ,
DOI : 10.1109/ACC.2010.5530890
Single-sensor control strategies for semi-active steering damper control in two-wheeled vehicles. Vehicular Technology, IEEE Transactions on, issue.2, pp.61813-820, 2011. ,
An Analysis of Tire Traction Properties and Their Influence on Vehicle Dynamic Performance, SAE Technical Paper Series, 1970. ,
DOI : 10.4271/700377
Semi-active steering damper control in two-wheeled vehicles. Control Systems Technology Estimation of lateral dynamics and road curvature for two-wheeled vehicles : A HOSM observer approach, Proc. of the IFAC World Congress, pp.1003-1020, 2011. ,
Observer based controller for single track vehicles, 52nd IEEE Conference on Decision and Control, 2013. ,
DOI : 10.1109/CDC.2013.6761067
URL : https://hal.archives-ouvertes.fr/hal-00867305
On the estimation of longitudinal dynamics of powered two-wheeled vehicles, 2015 European Control Conference (ECC), 2015. ,
DOI : 10.1109/ECC.2015.7330660
URL : https://hal.archives-ouvertes.fr/hal-01128193
OBSERVER DESIGN WITH GUARANTEED BOUND FOR LPV SYSTEMS, 16th IFAC World Congress, 2005. ,
DOI : 10.3182/20050703-6-CZ-1902.00962
Abs control using optimum search via sliding modes Control Systems Technology Lechner. A method to estimate the lateral tire force and the sideslip angle of a vehicle : Experimental validation, Proc.of IEEE American Control Conference, pp.79-85, 1995. ,
DOI : 10.1109/cdc.1994.411013
Comparison of Photovoltaic Array Maximum Power Point Tracking Techniques, IEEE Transactions on Energy Conversion, vol.22, issue.2, p.439, 2007. ,
DOI : 10.1109/TEC.2006.874230
Influence of road camber on motorcycle stability, ETS14] ETSC. VULNERABLE RIDERS. Safety implications of motorcycling in the European Union, 2008. ,
Horizon 2020 fast track to innovation, 2015. ,
Control of motorcycles by variable geometry rear suspension Model predictive for path following with motorcycles : application to the development of the pilot model for virtual prototyping High-order sliding-mode observation for linear systems with unknown inputs, Control Applications 2010 IEEE International Conference on Decision and Control CDC. 43rd IEEE Conference on, pp.767-772189, 2004. ,
European scanning tour for motorcycle safety Federation of European Motorcyclists Associations, 2011. ,
Non-linear estimation is easy, International Journal of Modelling, Identification and Control, vol.4, issue.1, pp.12-27, 2008. ,
DOI : 10.1504/IJMIC.2008.020996
URL : https://hal.archives-ouvertes.fr/inria-00158855
Identification des systèmes dynamiques non-linéaires : approche multi-modèle Motorcycle trajectory reconstruction by integration of vision and MEMS accelerometers Control of balance for a nonlinear nonholonomic non-minimum phase model of a bicycle, Conference on Decision and Control American Control Conference, pp.148-151, 1994. ,
Dynamic Inversion of Nonlinear Maps with Applications to Nonlinear Control and Robotics, 1995. ,
An analytical model of pneumatic tyres for vehicle dynamic simulations. part 2 : comprehensive slips, International journal of vehicle design, vol.12, issue.1, pp.19-39, 1991. ,
Conditions of output stabilization for nonlinear models in the Takagi-Sugeno's form. Fuzzy Sets and Systems An analytical model of pneumatic tyres for vehicle dynamic simulations. part 1 : pure slips, GN90] Gwanghun Gim and Parviz E Nikravesh, pp.1248-1259, 1990. ,
Classical mechanics. Pearson Education India, 1965. ,
Strong detectability and observers Observer-based control of discrete-time lpv systems with uncertain parameters, Linear Algebra And Its Applications Automatic Control IEEE Transactions on, vol.50, issue.9, pp.353-368, 1983. ,
Tire force estimation for a passenger vehicle with the unscented kalman filter Online exact differentiation and notion of asymptotic algebraic observers Automatic Control Estimation de la dynamique latérale pour véhicules à deux roues motorisés Observer design for motorcycle lean and steering dynamics estimation : a Takagi-Sugeno approach, Proc. of the IEEE Intelligent Vehicles Symposium, 2014. [Ibr03] S. Ibrir Septième Conférence Internationale Francophone d'Automatique American Control Conference (ACC), 2013. [IDI04] IDIMA. Motorcycle accident in-depht study-Depth Investigation of Motorcycle Accidents, pp.2055-2060, 2003. ,
Simultaneous state and unknown inputs estimation with PI and PMI observers for Takagi Sugeno model with unmeasurable premise variables, 2009 17th Mediterranean Conference on Control and Automation, pp.353-358, 2009. ,
DOI : 10.1109/MED.2009.5164566
URL : https://hal.archives-ouvertes.fr/hal-00376475
State estimation of Takagi???Sugeno systems with unmeasurable premise variables, IET Control Theory & Applications, vol.4, issue.5, pp.897-908, 2010. ,
DOI : 10.1049/iet-cta.2009.0054
URL : https://hal.archives-ouvertes.fr/hal-00482061
Comparison of the performance of maximum power point tracking schemes applied to single-stage grid-connected photovoltaic systems, IET Electric Power Applications, vol.1, issue.5, pp.753-762, 2007. ,
DOI : 10.1049/iet-epa:20060475
Nonlinear and hybrid systems in automotive control Small gain theorem for ISS systems and applications, Mathematics of Control, Signals and Systems, vol.7, issue.2, pp.95-120, 1994. ,
On the general theory of control systems, IRE Transactions on Automatic Control, vol.4, issue.3, pp.110-110, 1959. ,
DOI : 10.1109/TAC.1959.1104873
Nonlinear systems, 1996. ,
URL : https://hal.archives-ouvertes.fr/hal-00811192
Introduction of honda asv-3 (motorcycles), Honda R&D Technical Review, vol.18, issue.2, p.13, 2006. ,
Sliding-mode observers for systems with unknown inputs: A high-gain approach, Automatica, vol.46, issue.2, pp.347-353, 2010. ,
DOI : 10.1016/j.automatica.2009.10.040
The dynamic behaviour of a motorcycle when running straight ahead and when cornering, 1983. ,
Vibrational modes of motorcycles in curves, HS- 029 680, International Motorcycle Safety Conference Proceedings, pp.501-543, 1980. ,
Advanced rider assistance systems for motorcycles, AIMETA, 2011. ,
Real-time roll angle estimation for twowheeled vehicles, Proc. of the ASME Conference on Engineering Systems Design And Analysis, 2012. ,
Sliding order and sliding accuracy in sliding mode control [Lev98] A. Levant. Robust exact differentiation via sliding mode technique, International Journal of Control Automatica, vol.58, issue.34, pp.1247-1263379, 1993. ,
Higher-order sliding modes, differentiation and output-feedback control, International Journal of Control, vol.76, issue.9-10, pp.924-941, 2003. ,
DOI : 10.1080/0020717031000099029
Self-learning fuzzy sliding-mode control for antilock braking systems, IEEE Transactions on Control Systems Technology, vol.11, issue.2, pp.273-278, 2003. ,
DOI : 10.1109/TCST.2003.809246
A toolbox for modeling and optimization in MATLAB [Lot04] Roberto Lot. A motorcycle tire model for dynamic simulations : Theoretical and experimental aspects, Computer Aided Control Systems Design IEEE International Symposium on, pp.284-289, 2004. ,
The stability of motorcycles under acceleration and braking, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol.215, issue.9, pp.1995-1109, 2001. ,
DOI : 10.1177/095440620121500910
The general problem of the stability of motion, International Journal of Control, vol.55, issue.3, pp.531-534, 1992. ,
DOI : 10.1080/00207179208934253
Use of geocoded FARS data to analyse fatal motorcycle crashes, 20 th International Technical Conference on the Enhanced Safety of Vehicles. ESV : 20th international technical conference on the Enhanced Safety of Vehicles, 2007. ,
A virtual rider for reproducing experimental manoeuvres, Bicycle and Motorcycle Dynamics, 2010. ,
Development and exploration of a Rigid Motorcycle model, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 2009. ,
DOI : 10.1109/CDC.2009.5400360
A dynamical interpretation of strong observability and detectability concepts for nonlinear systems with unknown inputs : application to biochemical processes Multiple model approaches to nonlinear modelling and control, NAK85] Tomoo Nishimi, Akira Aoki, and Tsuyoshi Katayama. Analysis of straight running stability of motorcycles, pp.37-49, 1985. ,
Dynamic modelling of a two-wheeled vehicle: Jourdain formalism, Vehicle System Dynamics, vol.34, issue.6, pp.648-670, 2013. ,
DOI : 10.1080/00423114.2012.762536
URL : https://hal.archives-ouvertes.fr/hal-00786265
Conception et réalisation d'une plateforme mécatronique dédiée á la simulation de conduite des véhicules deux-roues motorisés, 2008. ,
An unknown input HOSM approach to estimate lean and steering motorcycle dynamics. Vehicular Technology, NK00] L Nielsen and U Kiencke. Automotive control systems, pp.3116-3127, 2000. ,
DOI : 10.1109/tvt.2014.2300633
URL : https://hal.archives-ouvertes.fr/hal-00935371
Robust feedback stabilization of an unmanned motorcycle, Robotics, Automation and Mechatronics, 2008. ,
DOI : 10.1016/j.conengprac.2010.04.003
Untersuchung zur kontrolle des nickverhaltens eines großvolumigen motorrades mit kurzem radstand durch applikation eines brake-by-wire systems, OAS + 03, pp.430-446, 2008. ,
Estimation of automotive tire force characteristics using wheel velocity, Control Engineering Practice, vol.11, issue.12, pp.1361-1370167, 1951. ,
DOI : 10.1016/S0967-0661(03)00073-X
Accidents de la route ,
Characteristics and causes of road accidents, 2014. ,
Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles, 2000. ,
Tire and Vehicle Dynamics, 2005. ,
Advanced telematics for enhancing the SA- FETY and comfort of motorcycle RIDERS, 2010. ,
Wheel slip control in ABS brakes using gain scheduled constrained LQR, European Control Conference, 2001. ,
Design and experimental validation of a nonlinear wheel slip control algorithm, Automatica, vol.48, issue.8, pp.1852-1859, 2012. ,
DOI : 10.1016/j.automatica.2012.05.073
Transformation of linear constant system equations A new fuzzy Lyapunov function approach for a Takagi- Sugeno fuzzy control system design. Fuzzy Sets and Systems, Proceedings of the Institution of Electrical Engineers, pp.541-5441211, 1967. ,
Motorcycle speed profile in cornering situation Intelligent anti-skid brake controller using a neural network, Proc. of the IEEE American Control Conference, pp.611-621, 1999. ,
Evaluation of a sliding mode observer for vehicle sideslip angle, Control Engineering Practice, vol.15, issue.7, pp.803-812, 2007. ,
DOI : 10.1016/j.conengprac.2006.04.002
URL : https://hal.archives-ouvertes.fr/hal-00080333
Introduction : Intuitive theory of sliding mode control In Sliding Mode Control and Observation Advances in the modelling of motorcycle dynamics, Control Engineering Multibody System Dynamics, vol.12, pp.1-42251, 2004. ,
The stability and control of motorcycles The influence of frame flexibility on the lateral stability of motorcycles The stability of motorcycles in acceleration and deceleration, Sha94] R. S. Sharp. Vibrational modes of motorcycles and their design parameter sensitivities, pp.316-329117, 1971. ,
Stability, control and steering responses of motorcycles Rider control of a motorcycle near to its cornering limits A virtual rider for motorcycles : An approach based on optimal control and maneuver regulation, Communications, Control and Signal Processing, pp.291-3181193, 2001. ,
Structure identification of fuzzy model. Fuzzy sets and systems, pp.15-33, 1988. ,
Nonlinear Observers Robust to Measurement Disturbances in an ISS Sense, IEEE Transactions on Automatic Control, vol.61, issue.1, 2014. ,
DOI : 10.1109/TAC.2015.2423911
Système d'assistance à la conduite pour véhicules à deux-roues motorisés Université d'Evry-Val d'Essonne, 2012. [Sn07] A. Sala and C. Ari no. Asymptotically necessary and sufficient conditions for stability and performance in fuzzy control : Applications of polya's theorem. Fuzzy Sets and Systems, pp.1582671-2686, 2007. ,
Perspectives for motorcycle stability control systems, Accident Analysis & Prevention, vol.44, issue.1, pp.74-81, 2012. ,
DOI : 10.1016/j.aap.2010.11.018
Roll angle estimation for motorcycles : Comparing video and inertial sensor approaches, Intelligent Vehicles Symposium (IV), 2012 IEEE, pp.500-505, 2012. ,
Video-based roll angle estimation for two-wheeled vehicles, 2011 IEEE Intelligent Vehicles Symposium (IV), pp.351-359, 1995. ,
DOI : 10.1109/IVS.2011.5940533
Parameterized linear matrix inequality techniques in fuzzy control system design. Fuzzy Systems Robust nonlinear output feedback control for brake by wire control systems, IEEE Transactions on Automatica, vol.9, issue.444, pp.324-3321078, 2001. ,
Fuzzy tracking control design for nonlinear dynamic systems via T-S fuzzy model. Fuzzy Systems, IEEE Transactions on, vol.9, issue.3, pp.381-392, 2001. ,
Modeling of tire overturning moment characteristics and the analysis of their influence on vehicle rollover behavior. Modeling , Analysis and Control Methods for Improving Vehicle Dynamic Behavior, Special Issue of Technical Journal of Toyota Research & Development, vol.38, issue.4, p.117, 2003. ,
A multiple lyapunov function approach to stabilization of fuzzy control systems, IEEE Transactions on Fuzzy Systems, vol.11, issue.4, pp.582-589, 2003. ,
DOI : 10.1109/TFUZZ.2003.814861
Motorcycle state estimation for lateral dynamics, Vehicle System Dynamics, vol.19, issue.1, pp.1261-1276, 2012. ,
DOI : 10.1076/vesd.37.6.423.3523
Real-time identification of tire-road friction conditions. Control Theory & Applications Fuzzy identification of systems and its applications to modeling and control, IET Systems, Man, and Cybernetics IEEE Transactions on, vol.3, issue.151, pp.891-906116, 1985. ,
Friction-curve peak detection by wheeldeceleration measurements ITSC'06 Fuzzy control systems design and analysis : A Linear Matrix Inequality approach, Intelligent Transportation Systems Conference Traffic safety facts, pp.1592-1597, 2001. ,
Andréa-Novel, Michel Fliess, and Hugues Mounier. Estimation of longitudinal and lateral vehicle velocities : an algebraic approach, American Control Conference, 2008. ,
Effect of Frame Compliance on the Lateral Dynamics of Motorcycles, Vehicle System Dynamics, vol.88, issue.1, pp.181-206, 1980. ,
DOI : 10.1080/00423118008968622
Evolution of electronic control systems for improving the vehicle dynamic behavior The stability of the motion of a bicycle, Proceedings of the 6th International Symposium on Advanced Vehicle Control 1899. [WT05] Sherry Williams and Allison Tyra. BRC Combined ResLab Results. In State Motorcycle Safety Administrators Conference, pp.312-321, 2002. ,
Lateral-directional motorcycle dynamics and rider control, 1978. ,
Output feedback h ? control of systems with parameter uncertainty Xiaodong and Z. Qingling. New approaches to H ? controller designs based on fuzzy observers for T-S fuzzy systems via LMI, International Journal of control Automatica, vol.63, issue.49, pp.741-750, 1996. ,
Output stabilization of Takagi-Sugeno fuzzy systems. Fuzzy Sets and Systems Study on separation principles for T-S fuzzy system with switching controller and switching observer, Neurocomputing, vol.111, issue.2, pp.253-266, 2000. ,
Trajectory tracking and balance stabilization control of autonomous motorcycles, Proc. of the IEEE International Conference on Robotics and Automation, 2006. ,
Autonomous motorcycles for agile maneuvers, part I: Dynamic modeling, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, pp.4613-4618, 2009. ,
DOI : 10.1109/CDC.2009.5399495