Multibody tools for evaluating system performance

IEEE Control Systems

Volumn 26, Issue 5, 2006, Pages 62-77

  Frezza, Ruggero ^a   Beghi, Alessandro ^a  

^a UNIVERSITY OF PADOVA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; MATHEMATICAL MODELS; NONLINEAR CONTROL SYSTEMS; OPTIMIZATION; ROBUSTNESS (CONTROL SYSTEMS);

CONTROLLER TUNING; DYNAMIC INVERSION; MULTIBODY MODELS; RIDERLESS MOTORCYCLES;

CLOSED LOOP CONTROL SYSTEMS;

EID: 33749414146     PISSN: 1066033X     EISSN: None     Source Type: Journal    
DOI: 10.1109/MCS.2006.1700045     Document Type: Article

References (47)

1. J. Rauh, “Virtual development of ride and handling characteristics for advanced passenger cars,” Vehicle Syst. Dynamics, vol. 40, no. 13, pp. 135–155, 2003.
2. W. Schiehlen, “Multibody system dynamics: Roots and perspectives,” Multibody Syst. Dynamics, vol. 1, no. 2, pp. 149-188,1997.
3. C.W. Gear, “Simultaneous numerical solutions of differential-algebraic equations,” IEEE Trans. Circuit Theory, vol. CT-18, no. 1, pp. 85-95,1971.
4. “In vehicle robot driver” [Online]. Available: http://www.abd.uk.com/
5. V. Cossalter, M. Da Lio, R. Lot, and L. Fabbri, “A general method for the evaluation of vehicle manouevrability with special emphasis on motorcycles,” Vehicle Syst. Dynamics, vol. 31, no. 2, pp. 113-135,1999.
6. J.P.M. Hendrikx, T.J.J. Meijlink, and R.F.C. Kriens, “Application of optimal control theory to inverse simulation of car handling,” vehicle Syst. Dynamics, vol. 26, no. 6, pp. 449-461,1996.
7. G. Prokop, “Modeling human vehicle driving by model predictive online optimization,” Vehicle Syst. Dynam., vol. 35, no. 1, pp. 19–53, 2001.
8. R.S. Sharp, D. Casanova, and P. Symonds, “A mathematical model for driver steering control, with design, tuning and performance results,” Vehicle Syst. Dynamics, vol. 33, no. 5, pp. 289–326, 2000.
9. C.L. Bottasso, C.S. Chang, A. Croce, D. Leonello, and L. Riviello, “Adaptive planning and tracking of trajectories for the simulation of maneuvers with multibody models,” Comput. Methods Appl. Mech. Eng., to be publishe.
10. R. Frezza and A. Beghi, “Simulating a motorcycle driver,” in New Trends in Nonlinear Dynamics and Control and Their Applications, W. Kang, M. Xiao, and C. Borges, Eds. Berlin: Springer-Verlag, 2003, pp. 175–186.
11. R. Frezza, A. Saccon, D. Minen, and C. Ortmann, “Smart driver: A research project for closed loop vehicle simulation in MSC.ADAMS,” in Multi-body Dynamics Monitoring and Simulation Techniques-III, H. Rahnejat and S. Rothberg, Eds. London: Professional Engineering Publishing, 2004, pp. 401–414.
12. R. Frezza, A. Saccon, and A. Beghi, “Model predictive and hierarchical control for path following with motorcycles,” in Proc. 2004 IEEE Conf. Decision Control, 2004, pp. 767–772.
13. R. Frezza, “Path following for air vehicles in coordinated flight,” in Proc. IEEE/ASME Conf. Advanced Intelligent Mechatronics, 1999, pp. 884–889.
14. N.H. Getz and J.E. Marsden, “Joint-space tracking of workspace trajectories in continuous time,” in Proc. 34th IEEE Conf. Decision Control, New Orleans, Dec. 1995, pp. 13–15.
15. I. Kageyama and H.B. Pacejka, “On a new driver model with fuzzy control,” Vehicle Syst. Dynamics, vol. 20, suppl., pp. 314-324,1991.
16. T.S. Liu and J.C. Wu, “Model for a rider-motorcycle system using fuzzy control,” IEEE Trans. Syst., Man Cybern., vol. 23, no. 1, pp. 267-277,1993.
17. J.C. Wu and T.S. Liu, “Fuzzy model of rider control for a motorcycle undergoing lane change,” Int. J. Vehicle Design, vol. 15, no. 1–2, pp. 27-44,1994.
18. I. Kageyama and Y. Owada, “Analysis of a riding control algorithm for two wheeled vehicles with a neural network modeling,” Vehicle Syst. Dynam., vol. 25, suppl., pp. 317-326,1996.
19. F. Biral and M. Da Lio, “Modeling driver with the optimal maneuver method,” in Proc. 7th Int. Conf. Exhibition ATA, Florence, 2001, p. 01A1029.
20. D.J.N. Limebeer and R.S. Sharp, “Bicycles, motorcycles and models,” IEEE Control Syst. Mag., vol. 26, no. 5, pp. 34–61, 2006.
21. C.C. MacAdam, “Understanding and modeling the human driver,” Vehicle Syst. Dynamics, vol. 40, no. 1–3, pp. 101-134,2003.
22. D. McRuer and D. Graham, “Flight control century: Triumphs of the systems approach,” J. Guid. Control Dyn., vol. 27, no. 2, pp. 161–173, 2004.
23. D.H. Weir, “A manual control view of motorcycle handling,” in Proc. 2nd Int. Congr. Automotive Safety, San Francisco, July 1973, p. 73018.
24. N.H. Getz, “Internal equilibrium control of a bicycle,” in Proc. IEEE Conf. Decision Control, 1995, vol. 4, pp. 4285–4287.
25. D. von Wissel and R. Nikoukhah, “Maneuver-based obstacle-avoiding trajectory optimization: Example of a riderless bicycle,” Mech. Structures Mach., vol. 23, no. 2, pp. 223-255,1995.
26. J. Fajans, “Steering in bicycles and motorcycles,” Amer. J. Phys., vol. 68, no. 7, pp. 654–659, 2000.
27. J. Hauser and A. Saccon, “Motorcycle modeling for control and optimization,” IEEE Control Syst. Mag., vol. 26, no. 5, pp. 89–105, 2006.
28. S. Evangelou, D.J.N. Limebeer, R.S. Sharp, and M.C. Smith, “Motorcycle steering compensators,” IEEE Control Syst. Mag., vol. 26, no. 5, pp. 78–88, 2006.
29. K.J. Astrom, R.E. Klein, and A. Lennartson, “Bicycle dynamics and control: Adapted bicycles for education and research,” IEEE Control Syst. Mag., vol. 25, no. 4, pp. 26–47, 2005.
30. D.E.H. Jones, “The stability of the bicycle,” Phys. Today, vol. 23, no. 4, pp. 34-40,1970.
31. A. Banaszuk and J. Hauser, “Feedback linearization of transverse dynamics for periodic orbits,” Syst. Control Lett., vol. 26, no. 2, pp. 95–105, Sept. 1995.
32. C. Nielsen and M. Maggiore, “Maneuver regulation via transverse feedback linearization: Theory and examples,” in Proc. IFAC Symp. Nonlinear Control Systems (NOLCOS) Stuttgart, Germany, Sept. 2004, pp. 59–66.
33. S. P. McGuan, “Active human surrogate control of a motorcycle: Stabilizing and destabilizing,” in Proc. SAE Int. Cong. Expos., Detroit, Mar. 1993, p. 930226.
34. R.S. Sharp, “Optimal linear time-invariant preview steering control for motorcycles,” in Proc. 19th IAVSD Symp. Dynamics Vehicles Roads Tracks, Milan, Aug. 2005, p. 31.
35. A.S.J. Hauser, A. Saccon, and R. Frezza, “Achievable motorcycle trajectories,” in Proc. 43rd CDC, Paradise Island, Bahamas, Dec. 2004, pp. 3944–3949.
36. N. Ienatsch, T. Morgan, and K. Roberts, Sport Riding Techniques: How To Develop Real World Skills for Speed, Safety, and Confidence on the Street and Track. Phoenix, AZ: David Bull Publishing, 2003.
37. L. Parks, Total Control: High Performance Street Riding Techniques. St. Paul, MN: Motorbooks Int., 2003.
38. A.S.J. Hauser, A. Saccon, and R. Frezza, “On the driven inverted pendulum,” in Proc. 44th IEEE Conf. Decision Control, European Control Conf. 2005, Seville, Spain, Dec. 2005, pp. 6176–6180.
39. F.J.W. Whipple, “The stability of the motion of a bicycle,” Q. J. Pure Appl. Math., vol. 30, no. 120, pp. 312-348, 1899.
40. “Adams” [Online]. Available: http://www.mscsoftware.com/prod-ucts/adams.cfm
41. “About bicycling robot murata boy” [Online]. Available: http://www.murata.com/news/index.html
42. S. Miyagishi, I. Kageyama, K. Takama, M. Baba, and H. Uchiyama, “Study on construction of a rider robot for two-wheeled vehicle,” JSAE Rev., vol. 24, no. 3, pp. 321–326, 2003.
43. “A motorcycle competes for the DARPA grand challenge” [Online]. Available: http://www.ghostriderrobot.com/
44. S. Kenchington, “Limit handling considerations for by-wire control,” Ingegneria del'Autoveicolo-ATA, vol. 58, no. 1-2, pp. 37-42,2005.
45. “A control designer's unified interface” [Online]. Available: http://caf-feine.arc.nasa.gov/conduit/
46. R. Frezza and D. Minen, “A new model based driver program for virtual cars in closed loop simulation,” in Proc. 19th IAVSD Symp. Dynamics Vehicles Roads Tracks, Milan, Aug. 2005, p. 24.
47. M. Liberati, A. Beghi, S. Mezzalira, and S. Peron, “Grey box modelling of a motorcycle shock absorber,” in Proc. 2004 IEEE Conf. Decision Control, 2004, pp. 755–760.