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Path Tracking Control of a Motorcycle Based on System Identification

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2 Author(s)
Trung-Kien Dao ; Da-Yeh Univ., Changhua, Taiwan ; Chih-Keng Chen

This study investigates the roll angle tracking and path tracking controls of a motorcycle. For the control design, a required linear model is obtained from the system identification method. The roll angle is controlled at a specific speed via a simple PID controller to generate input-output data, including steering torque, as well as roll and steering angles. The collected data are then used to identify a one-input two-output linear model by a prediction error identification method using parameterization in a canonical state-space form derived as a Whipple model. With the obtained linear model, full-state feedback (FSF) is designed for roll angle tracking control. Simulations and comparisons with a PID controller show that this FSF is robust against changes in speed as well as external disturbances. On the basis of the roll angle tracking controller, a path tracking controller by path preview is developed with consideration of disturbance rejection. The simulations show the effectiveness of the proposed control scheme.

Published in:

Vehicular Technology, IEEE Transactions on  (Volume:60 ,  Issue: 7 )