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

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

© 2014 IEEE. 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 languageAmerican English
Pages (from-to)3116-3127
Number of pages2803
JournalIEEE Transactions on Vehicular Technology
DOIs
StatePublished - 1 Sep 2014

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Motorcycles
Unknown Inputs
Torque
Observation
Sliding Mode Observer
Observability
State Estimation
State estimation
Estimate
Observer
Dynamic models
Dynamic Model
Higher Order
Simulation
Model

Cite this

Nehaoua, Lamri ; Ichalal, Dalil ; Arioui, Hichem ; Davila, Jorge ; Mammar, Saïd ; Fridman, Leonid M. / An unknown-input HOSM approach to estimate lean and steering motorcycle dynamics. In: IEEE Transactions on Vehicular Technology. 2014 ; pp. 3116-3127.
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An unknown-input HOSM approach to estimate lean and steering motorcycle dynamics. / Nehaoua, Lamri; Ichalal, Dalil; Arioui, Hichem; Davila, Jorge; Mammar, Saïd; Fridman, Leonid M.

In: IEEE Transactions on Vehicular Technology, 01.09.2014, p. 3116-3127.

Research output: Contribution to journalArticle

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