Interconnected Observers for a Powered Two-Wheeled Vehicles: Both Lateral and Longitudinal Dynamics Estimation

The paper focuses on the accurate estimation of the powered two wheelers vehicle states, including both the longitudinal and lateral dynamics. The examination of road crashes statistic reveals that loses of control is responsible for the most motorcycle accidents. Motivated by the need of observers to acquire certain states used in safety and control systems to prevent possible dangerous situation, this work investigates the design of an interconnected observers. First, the linear parameter varying (LPV) of the two-sub models of the PTWv motion are transformed into a Takagi-Sugeno (TS) form. Secondly, the observer convergence study is based on Lyapunov theory associated with the Input to State Practical Stability (ISpS) to guaranty boundedness of the state estimation errors. Further, sufficient conditions are given in terms of linear matrix inequalities (LMIs). Finally, observer performances are tested and compared to the motorcycle model states and several simulation cases are provided to highlight the effectiveness of the suggested method using motorcycle Simulator Software BikeSim©.