Motorcycle Riding Simulator: How to Estimate Robustly the Rider's Action
Identifieur interne : 000298 ( France/Analysis ); précédent : 000297; suivant : 000299Motorcycle Riding Simulator: How to Estimate Robustly the Rider's Action
Auteurs : Lamri Nehaoua [France] ; Hichem Arioui [France] ; Saïd Mammar [France]Source :
- IEEE transactions on vehicular technology [ 0018-9545 ] ; 2013.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Observateur.
English descriptors
- KwdEn :
- mix :
Abstract
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 ?∞ optimization technique.
Url:
Affiliations:
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Pascal:13-0117589Le document en format XML
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<term>Observer</term>
<term>Optimization</term>
<term>Robust control</term>
<term>Simulator</term>
<term>Sliding mode</term>
<term>System design</term>
<term>System simulation</term>
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<term>Torque measurement</term>
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<keywords scheme="Pascal" xml:lang="fr"><term>Simulateur</term>
<term>Simulation système</term>
<term>Conception système</term>
<term>Boucle réaction</term>
<term>Rétroaction</term>
<term>Mode glissant</term>
<term>Système structure variable</term>
<term>Mesure couple</term>
<term>Modèle dynamique</term>
<term>Implémentation</term>
<term>Poursuite cible</term>
<term>Optimisation</term>
<term>Observateur</term>
<term>Commande robuste</term>
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<keywords scheme="mix" xml:lang="en"><term>Riding Simulator</term>
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<term>Unknown Input Estimation</term>
<term>Unknown Input Estimation.</term>
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<front><div type="abstract" xml:lang="en">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 ?∞ optimization technique.</div>
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