An experimental study of the motorcycle roll stabilization task

The work of Sharp represents the most complete theoretical analysis of the uncontrolled motorcycle presently available, and serves as a theoretical basis for the study described. Sharp's analysis included roll, yaw, lateral translation, and steering degrees of freedom, and the resulting equations are linear with constant coefficients. Tire aligning moments due to tire sideslip were added to Sharp's equations. Experimental results are presented, and related to the theoretical studies of Sharp and Weir.