DocumentCode
2566531
Title
A direct Moving Horizon approach to vehicle side-slip angle estimation
Author
Canale, M. ; Fagiano, L. ; Novara, C.
Author_Institution
Dipt. di Autom. e Inf., Politec. di Torino, Torino, Italy
fYear
2010
fDate
15-17 Dec. 2010
Firstpage
2898
Lastpage
2903
Abstract
The application of a Moving Horizon Estimator (MHE) to the problem of vehicle side-slip angle estimation is studied. In particular, it is shown that MHEs can be represented as Nonlinear Finite Impulse Response (NFIR) filters. Then, in order to allow online implementation and guaranteed estimation accuracy, an optimal NFIR filter is derived directly from data. Comparisons between the standard model based MHE approach and the direct one are carried using a detailed vehicle model.
Keywords
FIR filters; angular measurement; motion control; motion estimation; nonlinear filters; optimal control; vehicle dynamics; MHE approach; estimation accuracy; moving horizon estimator; nonlinear finite impulse response filter; optimal NFIR filter; vehicle side-slip angle estimation; Data models; Estimation error; Optimization; Sensors; Vehicles; Voltage control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location
Atlanta, GA
ISSN
0743-1546
Print_ISBN
978-1-4244-7745-6
Type
conf
DOI
10.1109/CDC.2010.5717096
Filename
5717096
Link To Document