Trajectory Preview Tracking Control for Self-Balancing Intelligent Motorcycle Utilizing Front-Wheel Steering
Known for their compact size, mobility, and off-road capabilities, motorcycles are increasingly used for logistics, emergency rescue, and reconnaissance. However, due to their two-wheeled nature, motorcycles are susceptible to instability, heightening the risk of tipping during cornering. This study...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-11-01
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| Series: | Applied System Innovation |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2571-5577/7/6/115 |
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| Summary: | Known for their compact size, mobility, and off-road capabilities, motorcycles are increasingly used for logistics, emergency rescue, and reconnaissance. However, due to their two-wheeled nature, motorcycles are susceptible to instability, heightening the risk of tipping during cornering. This study includes some research and exploration into the following aspects: (1) The design of a front-wheel steering self-balancing controller. It achieves self-balance during motion by adjusting the front-wheel steering angle through manipulation of handlebar torque. (2) Trajectory tracking control based on preview control theory. It establishes a proportional relationship between lateral deviation and lean angle, as determined by path preview. The desired lean angle then serves as input for the self-balancing controller. (3) A pre-braking controller for enhanced active safety. To prevent lateral slide on wet and slippery surfaces, the controller is designed considering the motorcycle’s maximum braking deceleration. These advancements were validated via a joint BikeSim and Matlab/Simulink simulation, which included scenarios such as double lane changes and 60 m-radius turns. The results demonstrate that the intelligent motorcycle equipped with the proposed control algorithm tracks trajectories and maintains stability effectively. |
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| ISSN: | 2571-5577 |