The present work deals with the trajectory tracking for an unmanned motorcycle using observer-based-controller design. The non-linear parameter varying system used for the development is converted to a Takagi-Sugeno (TS) fuzzy system. The design of the observer-based controller is based on the Lyapunov approach and the Linear Ma-trix Inequality (LMI) formulation. Suffi-cient conditions are derived to prove the Input to State Stability (ISS) property and trajectory error conver-gence of the closed-loop system. We sug-gest ensuring a best profile tracking of the PTW in terms of roll preview (trajectory) for large range of longitudinal velocities. To improve the time response of the con-troller, a predictive generator is inserted.. Finally, simulation results are provided to confirm the suitability of the proposed technique.