Cascaded flatness-based observation approach for lateral motorcycle dynamics estimation

The flatness-based approach is presented in this paper in order to estimate the motorcycle lateral dynamics such as the roll angle, the lateral tire forces or the steering torque from basic measurements. The model of the motorcycle associated with the flatness theory are used to express the unknown states and input in terms of nonlinear functions depending only on the measures and their time derivatives up to a given finite order. These time derivatives are estimated via a non-asymptotic differentiator. Finally, the ability of the proposed observer to estimate the motorcycle dynamics is illustrated through two simulation scenarios performed with the well-known motorcycle simulator "BikeSim".