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<p>The stability of a motorcycle is significantly affected by the rider’s control actions, given its inherent static instability characteristics. This study emphasizes the importance of incorporating rider dynamics into motorcycle control to achieve effective path tracking. The main contributions of this research are as follows: (1) Self-Balancing Controller: A front-wheel steering self-balancing controller is developed to maintain balance during motorcycle movement. This controller adjusts the handlebar torque to regulate the front wheel’s steering angle. (2) Trajectory Tracking Control: A trajectory tracking control method is implemented using preview control theory. This approach evaluates lateral deviation by anticipating the path, and introducing a proportional gain for the lateral tilt angle based on this deviation. The resultant desired tilt angle serves as input for the front-wheel steering self-balancing controller. (3) Rider Dynamics Consideration: The model accounts for the rider’s influence on the motorcycle dynamics. A model of the rider’s upper body lateral tilt is established to facilitate lateral tilt compensation when the rider’s tilt exceeds a specified threshold. Furthermore, the model incorporates variations in overall mass due to rear passengers to validate the system’s robustness. To evaluate the effectiveness of the proposed algorithm, co-simulation tests were conducted using commercial software BikeSim and MATLAB/Simulink. </p>

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Intelligent Motorcycle Trajectory Tracking Control: Addressing the Impact of Rider Lateral Inclination

  • 期刊论文

  • 发表日期：

    2025年6月12日

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  • Fei Lai,
  • Xin Yu,
  • Hewang Hu,
  • Chaoqun Huang

摘要

The stability of a motorcycle is significantly affected by the rider’s control actions, given its inherent static instability characteristics. This study emphasizes the importance of incorporating rider dynamics into motorcycle control to achieve effective path tracking. The main contributions of this research are as follows: (1) Self-Balancing Controller: A front-wheel steering self-balancing controller is developed to maintain balance during motorcycle movement. This controller adjusts the handlebar torque to regulate the front wheel’s steering angle. (2) Trajectory Tracking Control: A trajectory tracking control method is implemented using preview control theory. This approach evaluates lateral deviation by anticipating the path, and introducing a proportional gain for the lateral tilt angle based on this deviation. The resultant desired tilt angle serves as input for the front-wheel steering self-balancing controller. (3) Rider Dynamics Consideration: The model accounts for the rider’s influence on the motorcycle dynamics. A model of the rider’s upper body lateral tilt is established to facilitate lateral tilt compensation when the rider’s tilt exceeds a specified threshold. Furthermore, the model incorporates variations in overall mass due to rear passengers to validate the system’s robustness. To evaluate the effectiveness of the proposed algorithm, co-simulation tests were conducted using commercial software BikeSim and MATLAB/Simulink.