• Complex
  • Title
  • Keyword
  • Abstract
  • Scholars
  • Journal
  • ISSN
  • Conference
成果搜索

author:

Bruschetta, Mattia (Bruschetta, Mattia.) [1] | Picotti, Enrico (Picotti, Enrico.) [2] | De Simoi, Andrea (De Simoi, Andrea.) [3] | Chen, Yutao (Chen, Yutao.) [4] (Scholars:陈宇韬) | Beghi, Alessandro (Beghi, Alessandro.) [5] | Nishimura, Masatsugu (Nishimura, Masatsugu.) [6] | Tezuka, Yoshitaka (Tezuka, Yoshitaka.) [7] | Ambrogi, Francesco (Ambrogi, Francesco.) [8]

Indexed by:

EI Scopus SCIE

Abstract:

Virtual prototyping tools are widely used in the development of new motorcycles, but the instability of two-wheel vehicles leads to the necessity of implementing a vehicle driver. In this brief, the development of an effective virtual rider (VR) is described that is capable of controlling the motorcycle during complex, high performance maneuvers. The control inputs are the steering angle, the lateral rider movement, and the throttle/braking effort. The proposed motorcycle model consists of a plane that can roll and slide (both in x - and y-directions), on which a moving point mass with lateral degree of freedom (DoF) is attached, representing the rider. The controller is designed within the nonlinear model predictive control (MPC) framework. The implementation is developed in MATMPC, an open-source toolbox, and tested in co-simulation with the commercial software VI-BikeRealTime, specifically designed to reproduce vehicles behavior with high fidelity. A chicane and a lap on a challenging track have been used to both show flexibility and evaluate performance, demonstrating the capability of the proposed VR of handling complex maneuvers.

Keyword:

Nonholonomic systems nonlinear model predictive control (MPC) real-time nonlinear MPC (NMPC) virtual motorcycle rider virtual prototyping

Community:

  • [ 1 ] [Bruschetta, Mattia]Univ Padua, DEI, I-35122 Padua, Italy
  • [ 2 ] [Picotti, Enrico]Univ Padua, DEI, I-35122 Padua, Italy
  • [ 3 ] [Beghi, Alessandro]Univ Padua, DEI, I-35122 Padua, Italy
  • [ 4 ] [De Simoi, Andrea]Sinteco Spa, I-32013 Belluno, Italy
  • [ 5 ] [Chen, Yutao]Fuzhou Univ, Coll Elect Engn & Automat, Fuzhou 350108, Peoples R China
  • [ 6 ] [Nishimura, Masatsugu]Honda Racing Corp, Senzui 3510024, Japan
  • [ 7 ] [Tezuka, Yoshitaka]Honda Racing Corp, Senzui 3510024, Japan
  • [ 8 ] [Ambrogi, Francesco]VI Grade GmbH, I-33010 Udine, Italy

Reprint 's Address:

  • [Picotti, Enrico]Univ Padua, DEI, I-35122 Padua, Italy

Show more details

Version:

Related Keywords:

Related Article:

Source :

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY

ISSN: 1063-6536

Year: 2021

Issue: 5

Volume: 29

Page: 2214-2222

5 . 4 1 8

JCR@2021

4 . 9 0 0

JCR@2023

ESI Discipline: ENGINEERING;

ESI HC Threshold:105

JCR Journal Grade:1

CAS Journal Grade:2

Cited Count:

WoS CC Cited Count: 3

SCOPUS Cited Count: 4

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 2

Online/Total:56/10027659
Address:FZU Library(No.2 Xuyuan Road, Fuzhou, Fujian, PRC Post Code:350116) Contact Us:0591-22865326
Copyright:FZU Library Technical Support:Beijing Aegean Software Co., Ltd. 闽ICP备05005463号-1