Rider weight consideration for observer design with an application to the estimation of the lateral motorcycle dynamics and rider's action

Abstract

This paper highlights the necessity of the rider weight consideration during observer's design for motorcycle dynamics estimation or control. It presents a novel approach using a linear parameter varying (LPV) model associated with the well-know Takagi-Sugeno (TS) methods to derive a robust observer regarding the rider weight uncertainty. Then the proposed solution is illustrated with an application to a proposed observer in our previous works by comparing results of estimation between a nominal, a heavier and a lighter rider. Finally, a complete simulation scenario shows the ability of the proposed method to estimate the lateral motorcycle dynamic states considering an uncertain rider weight.