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Conference Papers Year : 2013

Roll Angle Observer-Based Controller Design for Powered Two-Wheelers


The present work deals with the trajectory tracking for an unmanned motorcycle using observer-based-controller design. The non-linear parameter varying system used for the development is converted to a Takagi-Sugeno (TS) fuzzy system. The design of the observer-based controller is based on the Lyapunov approach and the Linear Ma-trix Inequality (LMI) formulation. Suffi-cient conditions are derived to prove the Input to State Stability (ISS) property and trajectory error conver-gence of the closed-loop system. We sug-gest ensuring a best profile tracking of the PTW in terms of roll preview (trajectory) for large range of longitudinal velocities. To improve the time response of the con-troller, a predictive generator is inserted.. Finally, simulation results are provided to confirm the suitability of the proposed technique.


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hal-00873997 , version 1 (16-10-2013)


  • HAL Id : hal-00873997 , version 1


Habib Dabladji, Dalil Ichalal, Hichem Arioui, Said Mammar. Roll Angle Observer-Based Controller Design for Powered Two-Wheelers. Symposium on the Dynamics and Control of Single Track Vehicles, Nov 2013, Narashino, Japan. pp.80 - 86. ⟨hal-00873997⟩
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