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A novel observer design for simultaneous estimation of vehicle steering angle and sideslip angle

Journal Article


Abstract


  • Both steering angle and sideslip angle are

    important states for vehicle handling and stability control.

    Instead of directly measuring these angles, indirect estimation

    of these states will provide a cost-effective way for

    the implementation of vehicle control systems. In the past,

    model-based methods have been proposed to estimate the

    sideslip angle with the measured steering angle. In this

    paper, a novel observer design is presented for simultaneous

    estimation of vehicle steering angle and sideslip angle

    so that the estimation of sideslip angle does not require the

    measurement of steering angle and the estimate of steering

    angle can also be used for other purposes, such as automatic

    steering control, steering system fault diagnosis, and

    driving performance monitoring. To enable this observer

    design, the Takagi–Sugeno (T–S) fuzzy modeling technique

    is applied to represent the vehicle lateral dynamics

    model with nonlinear Dugoff tyre model and time-varying

    vehicle speed. A T-S observer is then designed to simultaneously

    estimate the steering angle and sideslip angle

    with the measurements of yaw rate and vehicle speed, and

    is designed to be robust against parameter uncertainties

    and unknown inputs. The conditions for designing such

    an observer are derived in terms of linear matrix inequalities

    (LMIs). Experimental results are used to validate the

    effectiveness of the proposed approach. The results show

    that the designed observer can effectively estimate steering

    angle and sideslip angle despite the variation of vehicle

    longitudinal speed.

Authors


  •   Zhang, Bangji (external author)
  •   Du, Haiping
  •   Lam, James (external author)
  •   Zhang, Nong (external author)
  •   Li, Weihua

Publication Date


  • 2016

Citation


  • B. Zhang, H. Du, J. Lam, N. Zhang & W. Li, "A novel observer design for simultaneous estimation of vehicle steering angle and sideslip angle," IEEE Transactions on Industrial Electronics, vol. 63, (7) pp. 4357-4366, 2016.

Scopus Eid


  • 2-s2.0-84976551722

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/5539

Number Of Pages


  • 9

Start Page


  • 4357

End Page


  • 4366

Volume


  • 63

Issue


  • 7

Abstract


  • Both steering angle and sideslip angle are

    important states for vehicle handling and stability control.

    Instead of directly measuring these angles, indirect estimation

    of these states will provide a cost-effective way for

    the implementation of vehicle control systems. In the past,

    model-based methods have been proposed to estimate the

    sideslip angle with the measured steering angle. In this

    paper, a novel observer design is presented for simultaneous

    estimation of vehicle steering angle and sideslip angle

    so that the estimation of sideslip angle does not require the

    measurement of steering angle and the estimate of steering

    angle can also be used for other purposes, such as automatic

    steering control, steering system fault diagnosis, and

    driving performance monitoring. To enable this observer

    design, the Takagi–Sugeno (T–S) fuzzy modeling technique

    is applied to represent the vehicle lateral dynamics

    model with nonlinear Dugoff tyre model and time-varying

    vehicle speed. A T-S observer is then designed to simultaneously

    estimate the steering angle and sideslip angle

    with the measurements of yaw rate and vehicle speed, and

    is designed to be robust against parameter uncertainties

    and unknown inputs. The conditions for designing such

    an observer are derived in terms of linear matrix inequalities

    (LMIs). Experimental results are used to validate the

    effectiveness of the proposed approach. The results show

    that the designed observer can effectively estimate steering

    angle and sideslip angle despite the variation of vehicle

    longitudinal speed.

Authors


  •   Zhang, Bangji (external author)
  •   Du, Haiping
  •   Lam, James (external author)
  •   Zhang, Nong (external author)
  •   Li, Weihua

Publication Date


  • 2016

Citation


  • B. Zhang, H. Du, J. Lam, N. Zhang & W. Li, "A novel observer design for simultaneous estimation of vehicle steering angle and sideslip angle," IEEE Transactions on Industrial Electronics, vol. 63, (7) pp. 4357-4366, 2016.

Scopus Eid


  • 2-s2.0-84976551722

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/5539

Number Of Pages


  • 9

Start Page


  • 4357

End Page


  • 4366

Volume


  • 63

Issue


  • 7