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

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

20 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Número de artículo	6717178
Páginas (desde-hasta)	3116-3127
Número de páginas	12
Publicación	IEEE Transactions on Vehicular Technology
Volumen	63
N.º	7
DOI	https://doi.org/10.1109/TVT.2014.2300633
Estado	Publicada - 1 sep. 2014

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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 - 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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JO - IEEE Transactions on Vehicular Technology

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

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