Motorcycle roll motion stabilization and observer design

This paper is devoted for the development of a stabilized roll motion model of a motorcycle coupled to a PI observer for state and unknown input estimation. The feedback controller is designed for robust stabilization by yaw angle feedback to the steering torque, it is based on the loop shaping H_infin method for static feedback controller design. The controller and the observer are designed on a linear rider-motorcycle model and then tested on a model with nonlinear tire-road interaction forces. Simulation and preliminary experimental results show the effectiveness of the approach.