Single-Track Vehicle Dynamics Control: State of the Art and Perspective

The reduction of hardware costs and the availability of smaller, lighter electromechanical actuators have led to the development of numerous control systems for powered two wheelers (PTW). Although the community working on PTW dynamics control is smaller than the community addressing automotive control, a considerable number of contributions are available. This paper presents a review on the control of PTW, and anticipates future research and industrial trends. This paper proposes a reasoned classification of different approaches based on the controlled vehicle dynamics, separating between control systems dealing with the in-plane and out-of-plane dynamics and then presents an analysis of the state-of-the-art of each control problem. A section is then devoted to the control of narrow track tilting vehicles that share many features with PTW.