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Roll Angle Observer-Based Controller Design for Powered Two-Wheelers
| Content Provider | Semantic Scholar |
|---|---|
| Author | Dabladji, M. H. Ichalal, Dalil Arioui, Hichem Mammar, Said |
| Copyright Year | 2013 |
| Abstract | The present work deals with the trajectory tracking for an unmanned motorcycle using observer-based-controller design. The nonlin-ear 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 Matrix Inequality (LMI) formulation. Sufficient conditions are derived to prove the Input to State Stability (ISS) property and trajectory error convergence of the closed-loop system. We suggest 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 controller, a predic-tive generator is inserted.. Finally, simulation results are provided to confirm the suitability of the proposed technique. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://hal.inria.fr/docs/00/87/39/97/PDF/BMD2013_HD_HAL.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
