Lean and steering motorcycle dynamics reconstruction: An unknown-input HOSMO approach

This paper deals with state estimation of Powered Two Wheeled vehicle (PTWV) and robust reconstruction of related unknown inputs. For this purpose, we consider a unknown-input high order Sliding-mode observer (UIHOSMO). First, a motorcycle dynamic model is derived using Jourdain's principle. In a second time, we consider both the observation of the PTWV dynamic states, the reconstruction of the lean dynamics (roll angle φ(t)) and the rider's torque applied on the handlebar. Finlay, several simulation cases are provided to illustrate the efficiency of the proposed observer.