Abstract
Recently developed optimization and nonlinear control strategies are applied to drive a multi-body motorcycle model along a specified path with an associated velocity profile. The resulting control scheme is based on three main pillars: a dynamic inversion procedure to compute the input-state trajectories corresponding to a desired maneuvering task, an inverse optimal control heuristic for designing closed loop dynamics, and a maneuver regulation controller to overcome limitations of standard trajectory tracking scheme. The controller (virtual rider) is implemented on a commercial simulation software. Simulation results are presented.
Original language | English |
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Title of host publication | 2008 3rd International Symposium on Communications, Control, and Signal Processing, ISCCSP 2008, 12-14 March 2008, St. Julians, Malta |
Place of Publication | Piscataway |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 243-248 |
Number of pages | 6 |
ISBN (Print) | 9781424416882 |
DOIs | |
Publication status | Published - 2008 |
Externally published | Yes |
Keywords
- Dynamic inversion
- Maneuver regulation
- Motorcycle
- Multi-body model
- Single-track vehicles
- Virtual rider