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 language | English |
|---|---|
| Pages (from-to) | 287-292 |
| Number of pages | 6 |
| Journal | IFAC Proceedings Volumes (IFAC-PapersOnline) |
| Volume | 36 |
| Issue number | 14 |
| DOIs | |
| Publication status | Published - 2003 |
| Externally published | Yes |
| Event | 10th IFAC Symposium on Control in Transportation Systems 2003 - Tokyo, Japan Duration: 2003 Aug 4 → 2003 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