Lateral vehicle velocity estimation using fuzzy sliding mode observer

This paper presents a robust method for estimation the lateral velocity of vehicle. The proposed observer describes a simple structure that contains a sliding mode term which turns out to be robust against output noises and parameters variations as well as sustained disturbances The given nonlinear model of the vehicle is then represented by an uncertain Takagi-Sugeno fuzzy model when the road adhesion conditions change and the sideslip angle is unavailable for measurement. After giving the nonlinear model of the vehicle, its representation by a T-S uncertain fuzzy model is discussed. Stability conditions of such observers are expressed in terms of linear matrix inequalities (LMI). To illustrate the effectiveness of the proposed design observer, a numerical simulation is given.