Title :
A DVS-MHE Approach to Vehicle Side-Slip Angle Estimation
Author :
Canale, M. ; Fagiano, Lorenzo ; Novara, C.
Author_Institution :
Dipt. di Autom. e Inf., Politec. di Torino, Turin, Italy
Abstract :
A study on the application of a direct virtual sensor-moving horizon estimator (DVS-MHE) to the problem of vehicle side-slip angle estimation is carried out. In particular, it is shown that a stable MHE can be represented as nonlinear finite impulse response (NFIR) filter. Then, in order to allow online implementation and guaranteed estimation accuracy, an optimal NFIR filter is derived directly from the data by means of a DVS approach. Comparisons between the standard model-based MHE approach and the DVS approach are carried out using a detailed vehicle model.
Keywords :
FIR filters; nonlinear filters; optimal control; road accidents; road safety; road traffic control; road vehicles; sensors; slip; DVS-MHE approach; direct virtual sensor-moving horizon estimator; estimation accuracy; nonlinear finite impulse response filter; optimal NFIR filter; stable MHE; vehicle model; vehicle side-slip angle estimation; Data models; Estimation error; Observers; Optimization; Vehicles; Voltage control; Direct filter identification; lateral vehicle dynamics; moving horizon estimation; set membership (SM); set membership (SM).; side-slip angle estimation;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2013.2295974
