System identification and attitude control of motorcycle

Yutaka Kamata, Hidekazu Nishimura, Hidekuni Iida

Research output: Contribution to journalConference article

Abstract

System identification of a real motorcycle is performed to design a control system for attitude stabilization of the motorcycle by front-wheel steering. In system identification, a front-steering impulsive torque is used as the input signal and the roll angle response is used as the output signal. We reduce the identified model to the third order model and design the front-steering control system using the roll rate as the feedback signal by H 00 control theory. It is verified from experimental results that the attitude of motorcycle against front-steering torque disturbance is stabilized by the H 00 controller.

Original languageEnglish
Pages (from-to)287-292
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume36
Issue number14
DOIs
Publication statusPublished - 2003 Jan 1
Externally publishedYes
Event10th IFAC Symposium on Control in Transportation Systems 2003 - Tokyo, Japan
Duration: 2003 Aug 42003 Aug 6

Keywords

  • Active control
  • Attitude control
  • Computer-aided design
  • H-infinity control
  • Identification algorithms
  • Mode analysis
  • Model-based control

ASJC Scopus subject areas

  • Control and Systems Engineering

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