Year: 2025
Type: article
Abstract: 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 ofcoordinated maneuver, 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.
Authors: Nicola Mimmo, Matteo Zanzi
Institution: University of Bologna
Language: English
Subfield: Automotive Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4410852247