Steering assist control for stabilization of a motorcycle during braking (verification of the control system on cornering simulations)

Shintaroh Murakami, Hidekazu Nishimura, Shaopeng Zhu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, a front-steering assist control system is designed to stabilize a motorcycle during braking by the rider. A rider-motorcycle system is derived by applying multi-body dynamics in consideration of rider's pitching motion, and is linearized around an equilibrium point of quasi-steady state straight running with a constant deceleration. From the viewpoints of eigenvalues and frequency responses, the linearized model is analyzed and the reduced-order model is obtained to design the control system by using H control theory. By carrying out simulations, it is demonstrated that the control system can stabilize the motorcycle when the rider applies the brakes during cornering and is robust against parameter variations and other braking situations.

Original languageEnglish
Title of host publication2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages1025-1030
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
Duration: 2011 Dec 202011 Dec 22

Publication series

Name2011 IEEE/SICE International Symposium on System Integration, SII 2011

Other

Other2011 IEEE/SICE International Symposium on System Integration, SII 2011
CountryJapan
CityKyoto
Period11/12/2011/12/22

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

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