A virtual rider for motorcycles : an approach based on optimal control and maneuver regulation

A. Saccon, J. Hauser, A. Beghi

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

23 Citations (Scopus)

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 languageEnglish
Title of host publication2008 3rd International Symposium on Communications, Control, and Signal Processing, ISCCSP 2008, 12-14 March 2008, St. Julians, Malta
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages243-248
Number of pages6
ISBN (Print)9781424416882
DOIs
Publication statusPublished - 2008
Externally publishedYes

Publication series

Name2008 3rd International Symposium on Communications, Control, and Signal Processing, ISCCSP 2008

Keywords

  • Dynamic inversion
  • Maneuver regulation
  • Motorcycle
  • Multi-body model
  • Single-track vehicles
  • Virtual rider

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