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Motorcycle Riding Simulator: How to Estimate Robustly the Rider's Action

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3 Author(s)
Nehaoua, L. ; Integrative Biol. & Complex Syst. Lab. (IBISC EA-4526), Univ. d'Evry Val-d'Essonne (UEVE), Evry, France ; Arioui, H. ; Mammar, S.

This paper deals with a motorcycle riding simulator and addresses two key issues: 1) reconstruction of the rider's action, which is considered as the main input to the simulation system, and 2) design of an appropriate force feedback on the handlebar, emulating a tire-road contact. To answer the first challenge, a Walcott-Zak-based sliding-mode observer is designed for the rider torque estimation. The reconstructed torque is used as the main control of the virtual motorcycle dynamic model to actuate the simulator's platform. The steering system is modeled as a haptic display that is subjected to a couple of action-reaction torque: rider and tire-road dynamics. In addition, torque feedback is implemented to compensate the lack of the real tire-road contact. The control approach is based on a robust tracking problem of a reference steering angle by using the H optimization technique.

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Vehicular Technology, IEEE Transactions on  (Volume:62 ,  Issue: 1 )