Title: Stabilization control for rider-motorcycle model in Hamiltonian form
Authors: Wu, JC
Liu, TS
National Chiao Tung University
Department of Mechanical Engineering
Issue Date: 1-Dec-1996
Abstract: This study deals with dynamics and control of a rider-motorcycle system model in Hamiltonian form. The model is established to account for not only the motorcycle dynamics but also changes in rider's postures. Tyre forces are treated as external forces and rider's control actions contain three actuation torques. The Hamiltonian system is subject to dissipation effects due to tyre forces and rider's control torques. In addition to the total Hamiltonian, a generalized free energy is employed in formulation. Lyapunov's second method provides sufficient conditions for stability. Variable structure system (VSS) control is used to account for stabilization control exerted by the rider. Simulation results validate the proposed method.
URI: http://hdl.handle.net/11536/889
ISSN: 0042-3114
Volume: 26
Issue: 6
Begin Page: 431
End Page: 448
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