Motorbike Modeling and Control

João Sequeira, Marco di Vittori

Abstract

This paper surveys the kinematics of bikes and details the construction of a dynamics model for a motorbike using the Lagrangian approach. Using data from a typical sports motorbike, a dynamics model is obtained by symbolic computation. This model, of high algebraic complexity, is then wrapped as a function and used for control purposes. Control strategies based on PID, MPC, and nonlinear control are discussed and simulation results for each of them are presented.

References

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Paper Citation


in Harvard Style

Sequeira J. and di Vittori M. (2012). Motorbike Modeling and Control . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 249-254. DOI: 10.5220/0004034302490254


in Bibtex Style

@conference{icinco12,
author={João Sequeira and Marco di Vittori},
title={Motorbike Modeling and Control},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={249-254},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004034302490254},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Motorbike Modeling and Control
SN - 978-989-8565-22-8
AU - Sequeira J.
AU - di Vittori M.
PY - 2012
SP - 249
EP - 254
DO - 10.5220/0004034302490254