Design of steering angle observers for the active control of two-wheeled vehicles

Recent research has led to the design of effective steering control strategies which employ, as controlled variables, the steering velocity and the yaw rate. The yaw rate can be measured by means of Micro Electro-Mechanical Systems (MEMS) gyroscopes; steering angle potentiometers, instead, are in general less cost effective and less robust. Thus, there is an interest in developing effective steering angle estimators. This paper proposes an ℋ_∞ LTI observer and an LPV observer to estimate the steering angle via yaw rate and vehicle speed measurements, whose performances are compared both via simulation and experimental data.