Title: Predictive control to modelling motorcycle rider steering

Authors: Stuart Rowell, Atanas A. Popov, Jacob P. Meijaard

Addresses: Romax Technology, Rutherford House, Nottingham Science and Technology Park, Nottingham, NG7 2PZ, UK. ' Materials, Mechanics and Structures Research Division, Faculty of Engineering, University of Nottingham, Nottingham, NG7 2RD, UK. ' Mechanical Automation and Mechatronics, Faculty of Engineering Technology, University of Twente, Enschede 7522 NB, The Netherlands

Abstract: The response of a motorcycle is heavily dependent on the rider|s control actions, and consequently a means of replicating the rider|s behaviour provides an important extension to motorcycle dynamics. The primary objective here is to develop effective path-following simulations and to understand how riders control motorcycles. Model predictive control theory is applied to the tracking of roadway by a motorcycle, using a non-linear motorcycle model operating in free control by steering torque input. A path-following controller with road preview is designed by minimising tracking errors and control effort. Tight controls with high weightings on performance and loose controls with high weightings on control power are defined. Using a model predictive control approach, an extensive parameter study is conducted to evaluate its suitability. The controller model is simulated over a standard single lane-change manoeuvre. The results show the expected pattern for preview control and broadly compare with conclusions drawn from the optimal linear quadratic methods in previous studies. Furthermore, the approach is believed to accurately reflect the control actions taken by a human motorcycle rider.

Keywords: motorcycles; motorbikes; rider modelling; road preview; model predictive control; path following; optimal control; rider behaviour; motorcycle dynamics; simulation; motorcycle control; motorcycle steering; nonlinear models; motorcycle modelling; steering torque; lane changing.

DOI: 10.1504/IJVSMT.2010.037123

International Journal of Vehicle Systems Modelling and Testing, 2010 Vol.5 No.2/3, pp.124 - 160

Received: 29 Dec 2008
Accepted: 20 Dec 2009
Published online: 25 Nov 2010 *

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