Abstract
This paper presents dynamical analysis and control of a motorcycle in order to assist improvement of its stability by the rider´s operation. First a controller of front steer designed based on an identified model is described and the control experiment we have already performed is shown. Experimental results demonstrate that the motorcycle attitude against disturbance is stabilized by the H controller. Furthermore, we present a motorcycle model of four rigid parts with nine degrees of freedom. By taking account of the cross-sectional shape of tires and nonslip condition of tires in longitudinal direction of the wheel, the equation of motion for a motorcycle is derived based on the multibody dynamics analysis. By carrying out simulations it is verified that the responses to the front steering impulsive torque are in good agreement with those of the computeraided dynamics analysis software that have been confirmed with reproduction of a real motorcycle. Also motion control of the lane change of the motorcycle is performed with appropriate inputs of the steering torque and the torque around the roll axis of the rear frame.
Keywords - Motorcycle, multibody dynamics, control, LPV system, stabilization