An Unknown-Input HOSM Approach to Estimate Lean and Steering Motorcycle Dynamics

作者：Nehaoua Lamri^*; Ichalal Dalil; Arioui Hichem; Davila Jorge; Mammar Said; Fridman Leonid M

来源：IEEE Transactions on Vehicular Technology, 2014, 63(7): 3116-3127.

DOI：10.1109/TVT.2014.2300633

• High-order sliding mode (HOSM)
• motorcycle
• strong observability

This paper deals with state estimation of powered single-track vehicle and robust reconstruction of related unknown inputs. For this purpose, we consider an unknown-input high-order sliding-mode observer (UIHOSMO). First, a motorcycle dynamic model is derived using Jourdain%26apos;s principle. The strong observability of the obtained model is illustrated. Then, we consider both the observation of the powered two-wheeled (PTW) dynamic states and the reconstruction of the lean dynamics and the rider%26apos;s torque applied on the handlebar. Finally, several simulation cases are provided to illustrate the efficiency of the observer.

• 出版日期2014-9