System identification and attitude control of motorcycle by computer-aided dynamics analysis

Abstract

System identification of the motorcycle model constructed by computer-aided dynamics analysis is introduced to design a control system for attitude stabilization of the motorcycle. The identified model can be reduced to the coupled mode system between the roll and the front steering. The front-steering control system using the roll angle is designed by H_∞ control theory, based on the reduced-order model and the full-order model, respectively. It is verified from simulation results that the motorcycle attitude against disturbance is stabilized by the H_∞ controller, and that the reduced-order controller exhibits efficient stabilization performance in comparison with the full-order controller.