Motorbike Modeling and Control

João Sequeira, Marco di Vittori

2012

Abstract

This paper surveys the kinematics of bikes and details the construction of a dynamics model for a motorbike using the Lagrangian approach. Using data from a typical sports motorbike, a dynamics model is obtained by symbolic computation. This model, of high algebraic complexity, is then wrapped as a function and used for control purposes. Control strategies based on PID, MPC, and nonlinear control are discussed and simulation results for each of them are presented.

References

  1. Abdallah, C., Dawson, D., Dorato, P., and Jamshidi, M. (1990). Survey of Robust Control for Rigid Robots. In Procs. American Control Conf.
  2. Anderson, R. (1989). Passive Computed Torque Algorithms for Robots. In Procs. 28th Conf. on Decision and Control.
  3. Aström, K., Klein, R., and Lennartsson, A. (2005). Bicycle Dynamics and Control. IEEE Control Systems Magazine.
  4. Campion, G., Bastin, G., and D'Andrea-Novel, B. (1996). Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots. IEEE Trans. on Robotics and Automation, 12(1).
  5. Chessé, S. and Bessonet, G. (2001). Optimal dynamics of constrained multibody systems. Application to bipedal walking synthesis. In Procs of the IEEE Int. Conf. on Robotics and Automation. Seoul, Korea, May 21-26.
  6. Flannery, M. (2005). The enigma of nonholonomic constraints. American Journal of Physics, 73(3):265-272.
  7. Limebeer, D. and Sharp, R. (2006). Bicycles, Motorcycles, and Models. IEEE Control System Magazine.
  8. McClamroch, N. and Wang, D. (1988). Feedback Stabilization and Tracking of Constrained Robots. IEEE Transactions on Automatic Control, 33(5):419-426.
  9. Ortega, R., Loría, A., Nicklasson, P., and Sira-Ramírez, H. (1998). Passivity-based Control of Euler-Lagrange Systems. Springer.
  10. Ortega, R. and Spong, M. (1988). Adaptive motion control of rigid robots: A tutorial. In Procs. IEEE Conf. Decision and Control.
  11. Popov, A., Rowell, S., and Meijaard, J. (2010). A review on motorcycle and rider modeling for steering control. Vehicle System Dynamics, 48(6):775-792.
  12. Rau, M. and Schröder, D. (2002). Model Predictive Control with Nonlinear State Space Models. In Procs. of the American Control Conference (AMC 2002).
  13. Schwab, A., Meijard, J., and Papadopoulus, J. (2004). Benchmark results on the linearized equations of motion of an uncontrolled bicycle. In Proc. 2nd Asian Conf. Multibody Dynamics.
  14. Sharp, R., Evangelou, S., and Limebeer, D. (2004). Advances in the Modeling of Motorcycle Dynamics. Multibody System Dynamics, (12):251-283.
  15. Yi, J., Zhang, Y., and Song, D. (2009). Autonomous Motorcycles for Agile Maneuvers, Part I: Dynamics Modeling. In Procs. Joint 48th IEEE Conf. on Decision and Control and 28th Chinese Control Conf.
  16. Yu, H. and Antsaklis, P. (2009). Passivity-Based Distributed Control of Networked Euler-Lagrange Systems With Nonholonomic Constraints. Technical report. Technical Report of the ISIS Group at the Univ. of Notre Dame, ISIS-09-003.
Download


Paper Citation


in Harvard Style

Sequeira J. and di Vittori M. (2012). Motorbike Modeling and Control . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 249-254. DOI: 10.5220/0004034302490254


in Bibtex Style

@conference{icinco12,
author={João Sequeira and Marco di Vittori},
title={Motorbike Modeling and Control},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={249-254},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004034302490254},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Motorbike Modeling and Control
SN - 978-989-8565-22-8
AU - Sequeira J.
AU - di Vittori M.
PY - 2012
SP - 249
EP - 254
DO - 10.5220/0004034302490254