A state-dependent switching law that obeys a dwell time constraint and guarantees the stability of a switched linear system is designed. Sufficient conditions are obtained for the stability of the switched systems when the switching law is applied in presence of polytopic type parameter uncertainty. A Lyapunov function, in quadratic form, is assigned to each subsystem such that it is non-increasing at the switching instants. During the dwell time, this function varies piecewise linearly in time. After the dwell, the system switches if the switching results in a decrease in the value of the LF. The method proposed is also applicable to robust stabilization via state-feedback. It is further extended to guarantee a bound on the L2-gain of the switching system; it is also used in deriving state-feedback control law that robustly achieves a prescribed L2 -gain bound.

Robust State-Dependent Switching of Linear Systems With Dwell Time

https://hal.archives-ouvertes.fr/hal-00759487/document

Integrated vehicle dynamics control via coordination of active front steering and rear braking

Vehicle sideslip estimation: A kinematic based approach

The spread of active braking controllers on vehicles with significant mechanical differences and on low-cost products asks for control design approaches which offer easy and fast calibration and re-tuning capabilities. This task is made difficult by the use of model-based control approaches which heavily rely on specific vehicle dynamics descriptions. To address these issues, this brief paper proposes a data-driven approach to active braking control design, grounded on the virtual reference feedback tuning (VRFT) approach complemented with a data-driven nonlinear compensator. The effectiveness of the proposed approach is assessed both on a full-fledged multibody simulator and on a tire-in-the-loop experimental facility.

Data-Driven Design of Braking Control Systems

This paper addresses the analysis and design of a safety-oriented traction control system for ride-by-wire sport motorcycles based on the second-order sliding mode methodology. The controller design is based on a nonlinear dynamical model of the rear wheel slip, and the modeling phase is validated against experimental data measured on an instrumented vehicle. To comply with practical applicability constraints, the position of the electronic throttle body is used as control variable and the effect of the actuator dynamics is thoroughly analyzed. After a discussion on the interplay between the controller parameters and the tracking performance, the final design effectiveness is assessed via mechanical simulation corporation BikeSim, a full-fledged commercial multibody motorcycle model.

Traction Control for Ride-by-Wire Sport Motorcycles: A Second-Order Sliding Mode Approach

An innovative method for estimating the roll angle in two-wheeled vehicles is proposed. The roll angle is a crucial variable in the dynamics of two-wheeled vehicles, since it greatly affects the behaviour of the tire-road contact forces. Hence, the capability of providing in real time a reliable measure of such quantity allows us to evaluate the dynamic properties of the vehicle and its tyres, and represents the enabling technology for the design of advanced braking, traction and stability control systems. The method proposed is based on a low-cost sensor configuration, suitable for industrial purposes. The validity of the proposed approach is assessed in a multi-body motorbike simulator environment and also on an instrumented test vehicle.

Roll angle estimation in two-wheeled vehicles

In this work an innovative method for estimating the roll angle in two-wheeled vehicles is proposed. The capability of providing in real time a reliable measure of such quantity allows to evaluate the dynamic properties of the vehicle and its tires and represents the enabling technology for the design of advanced ABS systems and stability control systems. The method proposed in this work is based on a low-cost sensor configuration, suitable for industrial purposes. The validity of the proposed approach is assessed in a multi-body simulator environment and on an instrumented test vehicle.

This paper addresses the analysis and design of an optical sensor for the real-time measurement of the tilt angle in hypersport motorcycles. The aim of this paper is to design a compact, reliable, and low-cost optical triangulator that is capable of accurate in-field measurements in the harsh environment of sport motorcycles. An analytical computation of the required system sensitivity and achievable accuracy is carried out. The detrimental effects of solar interference are also described and discussed. The proposed instrumentation, which is realized with ad hoc laser emitters, is shown to have superior performance with respect to a previous solution based on light-emitting diode (LED) emitters. Such novel triangulators are shown to provide good and reliable performances for the proposed application to maintain low costs and small sizes, overcoming the problem of solar interference. The performance of the proposed sensor is assessed by experiments on an instrumented motorbike in a racetrack.

Optical Sensors for Real-Time Measurement of Motorcycle Tilt Angle

This paper focuses on the design of an innovative active braking control system for two-wheeled vehicles which can handle panic braking on curves. In the field of two-wheeled vehicles the spread of electronic control systems its still in its infancy, as today only a few commercial motorbikes are equipped with Anti-lock Braking Systems (ABS). Moreover, the few ABS systems available are certified to work only when panic braking occurs on straight road. As will be shown, to guarantee safety when braking on curves, the designed controller needs to rely on an online measure of the vehicle roll angle. Thus, to prove the industrial applicability of the proposed control algorithm, we also describe how such quantity can be effectively estimated via a suitable algorithm based on a low-cost sensors configuration, whose effectiveness is assessed in simulation and also on an instrumented test vehicle. The results concerning the active braking control system will be tested on a very detailed multibody simulation model of a two-wheeled vehicle, MSC BikeSim®.

Active braking control of two-wheeled vehicles on curves

The present invention refers to a pedal assisted bicycle (1) which comprises a first (5') and a second (5") wheels; a pedaling assembly (6) mechanically decoupled from said firs (5') and second (5") wheels by which an user can supply a pedaling power (Wped); an electric motor (8) mechanically coupled to at least one of said first (5') and second (5") wheels capable of taking a motor power (Wmot); a generator device (9) adapted to generate a generator device electric power (Wgen) from said pedaling power (Wped), arranged in an energy exchange relationship with the pedaling assembly (6) and the electric motor (8); an energy storage device (10) arranged in an energy exchange relationship with the electric motor (8) and with the generator device (9); a control system (11) comprising a module for controlling the power (Wgen) required to the generator device to be supplied to the electric motor (8) and/or to the storage device (10); a heartbeat sensor (26) adapted to generate a signal representing heartbeat. The module for controlling the electric power required to the generator device (Wgen) is operatively connected to the heartbeat sensor (26) and is configured in order to determine the electric power required to the generator device (Wgen) as function of the signal representing the heartbeat. The present invention refers also to a method for controlling the pedal assisted bicycle.

Ivo Boniolo

Papers

Roll angle estimation in two-wheeled vehicles

Roll angle estimation in two-wheeled vehicles

Optical Sensors for Real-Time Measurement of Motorcycle Tilt Angle

Active braking control of two-wheeled vehicles on curves

Pedal Assisted Bicycle And Method Of Controlling The Pedal Assisted Bicycle