System identification and attitude control of motorcycle

Yutaka Kamata; Hidekazu Nishimura; Hidekuni Iida

doi:10.1016/S1474-6670(17)32434-5

System identification and attitude control of motorcycle

Yutaka Kamata, Hidekazu Nishimura, Hidekuni Iida

研究成果: Conference article › 査読

抄録

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.

本文言語	English
ページ（範囲）	287-292
ページ数	6
ジャーナル	IFAC Proceedings Volumes (IFAC-PapersOnline)
巻	36
号	14
DOI	https://doi.org/10.1016/S1474-6670(17)32434-5
出版ステータス	Published - 2003
外部発表	はい
イベント	10th IFAC Symposium on Control in Transportation Systems 2003 - Tokyo, Japan 継続期間: 2003 8月 4 → 2003 8月 6

ASJC Scopus subject areas

制御およびシステム工学

文献へのアクセス

10.1016/S1474-6670(17)32434-5

他のファイルとリンク

引用スタイル

@article{7d36487920c14b30bcb989a0e6bd2ba2,

title = "System identification and attitude control of motorcycle",

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.",

keywords = "Active control, Attitude control, Computer-aided design, H-infinity control, Identification algorithms, Mode analysis, Model-based control",

author = "Yutaka Kamata and Hidekazu Nishimura and Hidekuni Iida",

note = "Publisher Copyright: Copyright {\textcopyright} IFAC Control in Transportation Systems, Tokyo, Japan, 2003; 10th IFAC Symposium on Control in Transportation Systems 2003 ; Conference date: 04-08-2003 Through 06-08-2003",

year = "2003",

doi = "10.1016/S1474-6670(17)32434-5",

language = "English",

volume = "36",

pages = "287--292",

journal = "IFAC-PapersOnLine",

issn = "2405-8963",

publisher = "IFAC Secretariat",

number = "14",

}

TY - JOUR

T1 - System identification and attitude control of motorcycle

AU - Kamata, Yutaka

AU - Nishimura, Hidekazu

AU - Iida, Hidekuni

PY - 2003

Y1 - 2003

N2 - 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.

AB - 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.

KW - Active control

KW - Attitude control

KW - Computer-aided design

KW - H-infinity control

KW - Identification algorithms

KW - Mode analysis

KW - Model-based control

UR - http://www.scopus.com/inward/record.url?scp=85064464196&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85064464196&partnerID=8YFLogxK

U2 - 10.1016/S1474-6670(17)32434-5

DO - 10.1016/S1474-6670(17)32434-5

M3 - Conference article

AN - SCOPUS:85064464196

VL - 36

SP - 287

EP - 292

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8963

IS - 14

T2 - 10th IFAC Symposium on Control in Transportation Systems 2003

Y2 - 4 August 2003 through 6 August 2003

ER -

System identification and attitude control of motorcycle

抄録

ASJC Scopus subject areas

文献へのアクセス

他のファイルとリンク

フィンガープリント

引用スタイル