Second order sliding mode for traction control in ride-by-wire sport motorcycles

  • Authors:

  • Claudio Vecchio;Mara Tanelli;Matteo Corno;Antonella Ferrara;Sergio M. Savaresi

  • Affiliations:

  • Department of Computer Engineering and Systems Science, University of Pavia, Pavia, Italy;Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci, Milano, Italy and Dipartimento di Ingegneria dell'Informazione e Metodi Matematici, Università deg ...;Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci, Milano, Italy;Department of Computer Engineering and Systems Science, University of Pavia, Pavia, Italy;Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci, Milano, Italy

  • Venue:
  • ACC'09 Proceedings of the 2009 conference on American Control Conference
  • Year:
  • 2009

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Abstract

The paper addresses the analysis and design of a safety-oriented traction control system for ride-by-wire sport motorcycles via Second Order Sliding Mode (SOSM) techniques. The controller design is based on a nonlinear dynamical model of the rear wheel slip, and the modeling phase is validated against experimental data measured on an instrumented vehicle. To comply with practical applicability constraints, the position of the electronic throttle body is used as control variable and the effect of the actuator dynamics thoroughly analyzed. After a discussion on the interplay between the controller parameters and the tracking performance, the final design effectiveness is assessed via MSC BikeSim®, a full-fledged commercial multibody motorcycle model.