System identification and attitude control of motorcycle by computer-aided dynamics analysis |
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| Institution: | 1. Graduate School of Science and Technology, Chiba University, Yayoi-cho 1-33, Inage, Chiba 263-8522, Japan;2. Department of Electronics and Mechanical Engineering, Faculty of Engineering, Chiba University, Yayoi-cho 1-33, Inage, Chiba 263-8522, Japan;1. McCaig Institute for Bone and Joint Health, University of Calgary, Canada;2. Department of Radiology, Faculty of Medicine, University of Calgary, Canada;3. Roger Jackson Centre for Health and Wellness Research, University of Calgary, Canada;4. Schulich School of Engineering, University of Calgary, Canada;1. Renault Nissan Technology Business Center India Ltd (R&D), Chennai, Tamilnadu 600053, India;2. Sri Shakthi Institute of Engineering and Technology, Coimbatore, Tamilnadu 641062, India;1. College of Medicine, University of Florida, Gainesville, FL, USA;2. Department of Orthopaedics & Rehabilitation, University of Florida, Gainesville, FL, USA;3. Department of Orthopaedic Surgery, Mayo Clinic, Jacksonville, FL, USA;4. Inverted TEA LLC, Gainesville, FL, USA;1. Department of Orthopedic Surgery, New York University Langone Orthopedic Hospital, New York, NY, USA;2. Division of Orthopedic Surgery, Tel-Hashomer “Sheba” Medical Center, Sackler School of Medicine, Tel-Aviv University, Ramat Gan, Israel;1. Department of Anatomical, Histological, Forensic Medicine and Orthopaedics Sciences, Sapienza University of Rome, Istituto Clinico Ortopedico Traumatologico (ICOT), Latina, Italy;2. Department of Orthopaedics and Traumatology, Azienda Ospedaliera San Camillo-Forlanini, Rome, Italy;3. Department of Anatomical, Histological, Forensic Medicine and Orthopaedics Sciences, Sapienza University of Rome-Policlinico Umberto I, Rome, Italy |
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| Abstract: | System identification of the motorcycle model constructed by computer-aided dynamics analysis is introduced to design a control system for attitude stabilization of the motorcycle. The identified model can be reduced to the coupled mode system between the roll and the front steering. The front-steering control system using the roll angle is designed by H∞ control theory, based on the reduced-order model and the full-order model, respectively. It is verified from simulation results that the motorcycle attitude against disturbance is stabilized by the H∞ controller, and that the reduced-order controller exhibits efficient stabilization performance in comparison with the full-order controller. |
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