Title :
Nonlinear observer design for automatic steering of vehicles
Author :
Zhang, J.R. ; Xu, S.J.
Author_Institution :
Univ. Picardie Jules-Verne, Amiens, France
Abstract :
This paper studies the observer design for automatic steering. The coupled longitudinal and lateral motion is considered. A nonlinear transformation is used to transfer the system into an affinely nonlinear system. A nonlinear observer is proposed to estimate the yaw rate of vehicle. Simulation results show that the designed observer is effective.
Keywords :
automated highways; automobiles; nonlinear control systems; affinely nonlinear system; automatic steering of vehicles; lateral motion; longitudinal motion; nonlinear observer design; nonlinear transformation; simulation results; Automotive engineering; Extraterrestrial measurements; Feedback; Filters; Input variables; Nonlinear systems; Observers; Riccati equations; State estimation; Vehicles;
Conference_Titel :
Intelligent Transportation Systems, 2002. Proceedings. The IEEE 5th International Conference on
Print_ISBN :
0-7803-7389-8
DOI :
10.1109/ITSC.2002.1041210
