Robust energy-to-peak sideslip angle estimation with applications to ground vehicles |
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| Affiliation: | 1. Merchant Marine College, Shanghai Maritime University, 1550 Haigang Avenue, Shanghai 201306, China;2. Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, USA;3. Department of Engineering, Faculty of Engineering and Science, University of Agder, 4878 Grimstad, Norway;1. College of Automation, Chongqing University of Posts and Telecommunications Chongqing, 400065, China;2. Key Laboratory of Industrial Internet of Things & Networked Control, Ministry of Education, Chongqing, 400065, China;1. School of Electrical, Computer and Telecommunications Engineering, University of Wollongong, Wollongong, NSW 2522, Australia;2. School of Mechanical, Material and Mechatronic Engineering, University of Wollongong, Wollongong, NSW 2522, Australia;3. Engineering Research Institute, University of Science and Technology Beijing, Beijing 100083, China;1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, PR China;2. School of Electrical and Electronic Engineering, The University of Adelaide, Adelaide, SA 5005, Australia |
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| Abstract: | In this paper, the observer design problem for the sideslip angle of ground vehicles is investigated. The sideslip angle is an important signal for the vehicle lateral stability, which is not measurable by using an affordable physical sensor. Therefore, we aim to estimate the sideslip angle with the yaw rate measurements by employing the vehicle dynamics. The nonlinear lateral dynamics is modeled firstly. As the tyre model is nonlinear and the road adhesive coefficient is subject to a large variation, the nonlinear lateral dynamics is transformed into an uncertain model. Considering the variation of longitudinal velocity, an uncertain linear-parameter-varying (LPV) system is obtained. Based on the LPV model, a gain-scheduling observer is proposed and the observer gain can be determined with off-line computation and on-line computation. The off-line computation includes the calculation of a set of linear matrix inequalities and the on-line computation contains several algebraic operations. The proposed design methodology is applied to a four-wheel-independent-drive electric vehicle in simulation. It infers from different maneuvers that the designed observer has a good performance on estimating the sideslip angle. |
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| Keywords: | Robust estimation Four-wheel-independent-drive electric vehicle Sideslip angle Energy-to-peak |
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