Steering-Based Controllers for Stabilizing Lean Angles in Two-Wheeled Vehicles

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

This study considers the lean angle stability problems in steering controlled tilting vehicles. Despite the fact that the considered nonlinear nonminimum phase model ignores some dynamic characteristics of the real system (we ignore wheel sleeping and wheel inertia), yet it captures important properties of the vehicle dynamics. We establish a stabilizing control strategy for the lean angle of the vehicle. To eliminate impulse behavior (due to the appearance of the derivative of the steering angle) we propose using Lyapunov stability theory a continuous feedback loop for the steering input signal that ensures exponential stability of a desired lean angle. The process of stabilizing a desired lean angle does not imply trajectory tracking, however the current approach can be extended to yield further results regarding trajectory tracking for the complicated model of a two-wheeled vehicle system like bicycles and motorcycles.

Original languageEnglish
Title of host publicationMED 2018 - 26th Mediterranean Conference on Control and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages897-902
Number of pages6
ISBN (Print)9781538678909
DOIs
StatePublished - 20 Aug 2018
Event26th Mediterranean Conference on Control and Automation, MED 2018 - Zadar, Croatia
Duration: 19 Jun 201822 Jun 2018

Publication series

NameMED 2018 - 26th Mediterranean Conference on Control and Automation

Conference

Conference26th Mediterranean Conference on Control and Automation, MED 2018
Country/TerritoryCroatia
CityZadar
Period19/06/1822/06/18

Keywords

  • Lean angle
  • Nonlinear nonminimum phase system
  • Stability
  • Steering-based controller
  • Two-wheeled vehicle

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

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