Recently developed optimization and nonlinear control strategies are applied to drive a multi-body motorcycle model along a specified path with an associated velocity profile. The resulting control scheme is based on three main pillars: a dynamic inversion procedure to compute the input-state trajectories corresponding to a desired maneuvering task, an inverse optimal control heuristic for designing closed loop dynamics, and a maneuver regulation controller to overcome limitations of standard trajectory tracking scheme. The controller (virtual rider) is implemented on a commercial simulation software. Simulation results are presented. ©2008 IEEE.
CITATION STYLE
Saccon, A., Hauser, J., & Beghi, A. (2008). A virtual rider for motorcycles: An approach based on optimal control and maneuver regulation. In 2008 3rd International Symposium on Communications, Control, and Signal Processing, ISCCSP 2008 (pp. 243–248). https://doi.org/10.1109/ISCCSP.2008.4537227
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