HapticV1, Hal, Curation, bibRecord, 000384

Motorcycle Riding Simulator: How to Estimate Robustly the Rider's Action?

Identifieur interne : 000384 ( Hal/Curation ); précédent : 000383; suivant : 000385

Motorcycle Riding Simulator: How to Estimate Robustly the Rider's Action?

Auteurs : Lamri Nehaoua [France] ; Hichem Arioui [France] ; Said Mammar [France]

Source :

IEEE Transactions on Vehicular Technology [ 0018-9545 ] ; 2013-01-09.

RBID : Hal:hal-00725426

English descriptors

mix :
- Riding Simulator, Sliding Mode Observer, Unknown Input Estimation, Unknown Input Estimation..

Abstract

This paper deals with a motorcycle riding simulator and addresses two key issues: 1) reconstruction of rider's action, considered as the main input to the simulation system and 2) design 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, in order to actuate the simulator's platform. The steering system is modeled as a haptic display subjected to a couple of action-reaction torques: rider and tire-road dynamics. Besides, a 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 $\mathcal{H}_\infty$ optimization technique.

Url:

https://hal.archives-ouvertes.fr/hal-00725426

DOI: 10.1109/TVT.2012.2215052

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to stream Hal, to step Corpus: Pour aller vers cette notice dans l'étape Curation :000384

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Hal:hal-00725426

Le document en format XML

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<abstract xml:lang="en">This paper deals with a motorcycle riding simulator and addresses two key issues: 1) reconstruction of rider's action, considered as the main input to the simulation system and 2) design 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, in order to actuate the simulator's platform. The steering system is modeled as a haptic display subjected to a couple of action-reaction torques: rider and tire-road dynamics. Besides, a 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 $\mathcal{H}_\infty$ optimization technique.</abstract>
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Motorcycle Riding Simulator: How to Estimate Robustly the Rider's Action?

Motorcycle Riding Simulator: How to Estimate Robustly the Rider's Action?

Source :

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri