Abstract
In this paper, we perform assist control of motorcycle to avoid hazardous situation in a rider's maneuver such as lane change. Rider's optimal driving of lane change is obtained using final-output control on the basis of a dynamical model of a rider-motorcycle system considering steering reaction torque to the rider's upper torso and leaning of the rider's upper torso. The controller of the assist control system with the front-steering torque is designed by using H_<∞>, control theory. It is verified from simulation results that the motorcycle is stabilized by the assist control system even though an impulsive disturbance comes from road in lane change maneuver.
