Recently developed optimization and nonlinear control strategies are applied to ride 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.
A dynamic inversion approach to motorcycle trajectory exploration
BEGHI, ALESSANDRO
2010
Abstract
Recently developed optimization and nonlinear control strategies are applied to ride 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.
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