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Roll Angle Observer-Based Controller Design for Powered Two-Wheelers
| Content Provider | Hyper Articles en Ligne (HAL) |
|---|---|
| Author | Dabladji, Habib Ichalal, Dalil Arioui, Hichem Mammar, Said |
| Abstract | The present work deals with the trajectory tracking for an unmanned motorcycle using observer-based-controller design. The non-linear parameter varying system used for the development is converted to a Takagi-Sugeno (TS) fuzzy system. The design of the observer-based controller is based on the Lyapunov approach and the Linear Ma-trix Inequality (LMI) formulation. Suffi-cient conditions are derived to prove the Input to State Stability (ISS) property and trajectory error conver-gence of the closed-loop system. We sug-gest ensuring a best profile tracking of the PTW in terms of roll preview (trajectory) for large range of longitudinal velocities. To improve the time response of the con-troller, a predictive generator is inserted.. Finally, simulation results are provided to confirm the suitability of the proposed technique. |
| Related Links | https://hal.science/hal-00873997/file/BMD2013_HD_HAL.pdf |
| Conference Proceedings | Symposium on the Dynamics and Control of Single Track Vehicles |
| Language | English |
| Publisher | HAL CCSD |
| Publisher Date | 2013-11-11 |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Conference Proceedings |
| Subject | Physics and Astronomy |
