On linear‐parameter‐varying (LPV) slip‐controller design for two‐wheeled vehicles

Abstract

SUMMARYThis paper describes the application of linear-parameter-varying (LPV) control design techniques to the problem of slip control for two-wheeled vehicles. A nonlinear multi-body motorcycle simulator is employed to derive a control-oriented dynamic model. It is shown that, in order to devise a robust controller with good performance, it is necessary to take into account the dependence of the model on the velocity and on the wheel slip. This dependence is modeled via an LPV system constructed from Jacobian linearizations at different velocities and slip values. The control problem is formulated as a model-matching control problem within the LPV framework; a specific modification of the LPV control synthesis algorithm is proposed to alleviate controller interpolation problems. Linear and nonlinear simulations indicate that the synthesized controller achieves the required robustness and performance.

Design and Validation of a Gain-Scheduled Controller for the Electronic Throttle Body in Ride-by-Wire Racing Motorcycles

“…Several techniques are available in the literature to reduce the problem to a finite dimensional one. In this context the parameter space gridding (see, e.g., [12]) has been preferred. Namely, the following steps are performed: 1) grid the set ;…”

“…Note that, in principle, when a single control system must be designed in order to guarantee the satisfactory closedloop operation of a given plant in many different operating conditions a genuine gain scheduling approach can be followed, see, e.g., [12], [20], [21], [22]. This framework asks to find one or more scheduling variables which completely parameterize the operating space of interest and to define a parametric family of linearized models for the plant associated with the set of operating points of interest.…”

“…A better fitting could have been obtained by increasing the model order, but this would lead to the inevitable risk of over-fitting. It has been found more useful to focus the optimization procedure on the frequency range [5][6][7][8][9][10][11][12][13][14][15] Hz, which is the interval within which the desired cutoff frequency of the closed-loop system is expected to be, and therefore the frequency range where a more accurate model is needed.…”

Game‐theoretic linear parameter‐varying control with multiple L 2 ‐gain objectives upon energy‐motion regulation of electric bikes propulsion

“…The third type is the most common, whereof any dynamics is non-linear in nature, but its state consists of two discernible time-scales. In LPV control, the slow-time state variables play scheduling parameters in the meantime, so that the non-linear dynamics can be represented as a LPV plant [12][13][14][15][16]. On grounds of electromechanical principles and through continuous trialand-errors, we find that the third type of LPV modelling suits for parameterisation of the EB DC-propulsion.…”

Online Energy Management of City Cars with Multi-Objective Linear Parameter-Varying L2-Gain Control

“…However, a city car is for transportation inside traffic jams, so its transient current plays the key to energy economy and driving safety. To this, we develop linear parameter-varying (LPV) modeling and identification to remedy such a situation, following the previous works in [24][25][26][27][28][29][30]. Here, the tire speed is taken as the slow-time state variable and simultaneously the scheduling parameter.…”