TY - GEN
T1 - Stabilization control of a motorcycle during braking
AU - Murakami, Shintaroh
AU - Nishimura, Hidekazu
AU - Zhu, Shaopeng
PY - 2012/12/1
Y1 - 2012/12/1
N2 - In this paper, a front-steering assist control is designed to stabilize a motorcycle during braking. The rider-motorcycle system with its pitching motions is linearized around an equilibrium point of quasi-steady state straight running with constant deceleration. From the viewpoints of eigenvalues and frequency responses, the linearized model is analyzed and a reduced-order model is obtained to design the control system by using H∞ control theory. By carrying out simulations during braking, it is demonstrated that the control system can stabilize a motorcycle when receiving a sudden disturbance from the front wheel and is robust against parameter variations and several braking situations.
AB - In this paper, a front-steering assist control is designed to stabilize a motorcycle during braking. The rider-motorcycle system with its pitching motions is linearized around an equilibrium point of quasi-steady state straight running with constant deceleration. From the viewpoints of eigenvalues and frequency responses, the linearized model is analyzed and a reduced-order model is obtained to design the control system by using H∞ control theory. By carrying out simulations during braking, it is demonstrated that the control system can stabilize a motorcycle when receiving a sudden disturbance from the front wheel and is robust against parameter variations and several braking situations.
UR - http://www.scopus.com/inward/record.url?scp=84885934924&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84885934924&partnerID=8YFLogxK
U2 - 10.1115/DSCC2012-MOVIC2012-8627
DO - 10.1115/DSCC2012-MOVIC2012-8627
M3 - Conference contribution
AN - SCOPUS:84885934924
SN - 9780791845318
T3 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
SP - 207
EP - 216
BT - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
T2 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Y2 - 17 October 2012 through 19 October 2012
ER -