Abstract
In this paper, we design a control system to stabilize a motorcycle which is in the state of steady-state circular turning at the low speed by using an assist actuator of the front steering. The nonlinear dynamical model of a rider-motorcycle system is derived taking into account of leaning of the rider, and is linearized around a certain equilibrium point to perform the eigenvalue analysis and the frequency response analysis. A reduced-order model that can be used to design the control system is derived on the basis of the frequency response analysis. The attitude stabilization control system is designed by using H∞ control theory. It is verified that the H ∞ control system designed can stabilize the attitude of motorcycle against a front-steering torque disturbance during steady-state circular turning.
| Original language | English |
|---|---|
| Pages (from-to) | 1336-1345 |
| Number of pages | 10 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 75 |
| Issue number | 753 |
| DOIs | |
| Publication status | Published - 2009 May |
Keywords
- H controller
- Linearization
- Modeling
- Motion control
- Motorcycle
- Stability
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering