Optimal preview speed-tracking control for motorcycles (Q2458283)

The paper is one in a series of recent publications of the author which are devoted to the linear optimal preview control, concerning the steering of cars, motorcycles and bicycles. The present work focuses on speed-profile tracking for motorcycles; the model employed is a Suzuki GSX-R 1000K1 machine, restricted to only in-plane freedoms. The current driver's view of the road ahead is used to select the speed target data for the next interval of the motion. The speed-tracking capacity of the controlled system is illustrated by computing frequency responses. It is shown that tight and loose controls result from balanced choise between tracking accuracy and control power differently. Tight control leads to the need for small amount of preview and vice versa. A simulation study is given and various characteristics of the problem are presented, i.e. optimal feedback gains in dependence on motorcycle speed, preview gain sequences as functions of distance ahead, and speed frequency responses. One new feature obtained for motorcycle is that the frequency range for almost ideal tracking cannot exceed a certain value by increasing the control tightness.