An unknown-input HOSM approach to estimate lean and steering motorcycle dynamics

Lamri Nehaoua; Dalil Ichalal; Hichem Arioui; Jorge Davila; Saïd Mammar; Leonid M. Fridman

doi:10.1109/TVT.2014.2300633

An unknown-input HOSM approach to estimate lean and steering motorcycle dynamics

Lamri Nehaoua, Dalil Ichalal, Hichem Arioui, Jorge Davila, Saïd Mammar, Leonid M. Fridman

Escuela Superior de Ingeniería Mecánica y Eléctrica (ESIME), Unidad Ticomán

Research output: Contribution to journal › Article › peer-review

20 Scopus citations

Abstract

This paper deals with state estimation of powered single-track vehicle and robust reconstruction of related unknown inputs. For this purpose, we consider an unknown-input high-order sliding-mode observer (UIHOSMO). First, a motorcycle dynamic model is derived using Jourdain's principle. The strong observability of the obtained model is illustrated. Then, we consider both the observation of the powered two-wheeled (PTW) dynamic states and the reconstruction of the lean dynamics and the rider's torque applied on the handlebar. Finally, several simulation cases are provided to illustrate the efficiency of the observer.

Original language	English
Article number	6717178
Pages (from-to)	3116-3127
Number of pages	12
Journal	IEEE Transactions on Vehicular Technology
Volume	63
Issue number	7
DOIs	https://doi.org/10.1109/TVT.2014.2300633
State	Published - 1 Sep 2014

Keywords

HOSM
Motorcycle
Strong Observability

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10.1109/TVT.2014.2300633

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title = "An unknown-input HOSM approach to estimate lean and steering motorcycle dynamics",

abstract = "This paper deals with state estimation of powered single-track vehicle and robust reconstruction of related unknown inputs. For this purpose, we consider an unknown-input high-order sliding-mode observer (UIHOSMO). First, a motorcycle dynamic model is derived using Jourdain's principle. The strong observability of the obtained model is illustrated. Then, we consider both the observation of the powered two-wheeled (PTW) dynamic states and the reconstruction of the lean dynamics and the rider's torque applied on the handlebar. Finally, several simulation cases are provided to illustrate the efficiency of the observer.",

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AU - Nehaoua, Lamri

AU - Ichalal, Dalil

AU - Arioui, Hichem

AU - Davila, Jorge

AU - Mammar, Saïd

AU - Fridman, Leonid M.

PY - 2014/9/1

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N2 - This paper deals with state estimation of powered single-track vehicle and robust reconstruction of related unknown inputs. For this purpose, we consider an unknown-input high-order sliding-mode observer (UIHOSMO). First, a motorcycle dynamic model is derived using Jourdain's principle. The strong observability of the obtained model is illustrated. Then, we consider both the observation of the powered two-wheeled (PTW) dynamic states and the reconstruction of the lean dynamics and the rider's torque applied on the handlebar. Finally, several simulation cases are provided to illustrate the efficiency of the observer.

AB - This paper deals with state estimation of powered single-track vehicle and robust reconstruction of related unknown inputs. For this purpose, we consider an unknown-input high-order sliding-mode observer (UIHOSMO). First, a motorcycle dynamic model is derived using Jourdain's principle. The strong observability of the obtained model is illustrated. Then, we consider both the observation of the powered two-wheeled (PTW) dynamic states and the reconstruction of the lean dynamics and the rider's torque applied on the handlebar. Finally, several simulation cases are provided to illustrate the efficiency of the observer.

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KW - Strong Observability

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JO - IEEE Transactions on Vehicular Technology

JF - IEEE Transactions on Vehicular Technology

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ER -

An unknown-input HOSM approach to estimate lean and steering motorcycle dynamics

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Keywords

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