Design of a robust side slip angle observer using adaptive Kalman filter

Author

Chu, Liang ; Zhang, Yongsheng ; Xu, Mingfa ; Shi, Yanru ; Yang, Ou

Author_Institution

State Key Lab. of Automobile Dynamic Simulation, Jilin Univ., Changchun, China

Volume

3

fYear

2010

fDate

25-27 June 2010

Abstract

In order to meet the cost requirement of side slip angle measured directly in vehicle active safety control systems, a new combined observer for estimating side slip angle is proposed. In the observer, the adaptive Kalman filter and full-order state observer are employed. Effectiveness of presented method is confirmed by simulation of sinusoidal driving and double lane maneuver. The results show that the proposed method has good robustness and accuracy both in tire linear and nonlinear area.

Keywords

Kalman filters; observers; road safety; road vehicles; stability; vehicle dynamics; adaptive Kalman filter; full-order state observer; robust side slip angle observer design; stability control system; vehicle active safety control systems; Acceleration; Control system synthesis; Observers; Programmable control; Robustness; Stability; State estimation; Tires; Vehicle dynamics; Vehicle safety; Adaptive Kalman filter; Electronic Stability Control System; Side slip angle; State Observer; tyre cornering stiffness;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Design and Applications (ICCDA), 2010 International Conference on

Conference_Location

Qinhuangdao

Print_ISBN

978-1-4244-7164-5

Electronic_ISBN

978-1-4244-7164-5

Type

conf

DOI

10.1109/ICCDA.2010.5540960

Filename

5540960