High-Performance Motorbike Lean Angle Estimation

This work deals with the real-time estimation of the lean angle of high-performance motorbikes. The estimate is obtained through measurements provided by an onboard inertial sensor and a GNSS receiver. A two-stage state observer, implementing a kinematic model developed under the novel assumption of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">coordinated maneuver</i>, processes these measurements. A theoretical analysis demonstrates the observer’s stability, the estimate’s accuracy, and the estimation error bounds. Finally, experimental results obtained on race-track tests show the superior performance of the proposed estimator compared with other competitive approaches.