Abstract
Prior work on the application of optimal linear preview control to road vehicle steering is extended to deal with speed-profile tracking as opposed to path tracking. The focus here is on motorcycles. An elaborate multibody motorcycle ride and handling model from the literature is used as a basis for the development. This model is reduced from its general form to allow only in-plane motions. A speed-controlled nonlinear version of the model is used to establish quasi-equilibrium or trim states for running through a full speed range and a corresponding linear model for small-perturbations from any trim state, with simple engine dynamics included, is used for the linear optimal control computations.
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