System and method for stabilizing a single-track vehicle

摘要

A system for stabilizing a single-track vehicle including a front assembly and a rear assembly, said system comprising a robust controller including an inner loop which closes on a roll angular rate {dot over (chi)} of said rear assembly and reduces parametric uncertainty associated with said vehicle, and an outer loop which closes on a roll angle chi of said rear assembly, and wherein the robust controller outputs a steering torque signal for controlling a steering angle in said front assembly; a roll angle sensor for measuring the roll angle in the rear assembly; a roll rate gyro for measuring the roll angular rate in the rear assembly; and a motor for applying the steering angle to said front assembly responsive to the steering torque signal.