Observer Design for Parameter Varying Differentiable Nonlinear Systems, With Application to Slip Angle Estimation

2017 ◽  
Vol 62 (4) ◽  
pp. 1940-1945 ◽  
Author(s):  
Yan Wang ◽  
Rajesh Rajamani ◽  
David M. Bevly
Keyword(s):  
Nonlinear Systems ◽  
Observer Design ◽  
Slip Angle ◽  
Angle Estimation ◽  
Parameter Varying

Robust Sideslip Angle Estimation for Over-Actuated Electric Vehicles: A Linear Parameter Varying System Approach

2013 ◽  
Author(s):  
Yan Chen ◽  
Junmin Wang
Keyword(s):  
Friction Force ◽  
System Approach ◽  
Estimation Method ◽  
Observer Design ◽  
Linear Parameter ◽  
Sideslip Angle ◽  
Angle Estimation ◽  
Friction Forces ◽  
Linear Parameter Varying ◽  
Parameter Varying

A new estimation method for estimating the vehicle sideslip angle, mainly based on a linear parameter varying (LPV) model with independently estimated tire friction forces, is proposed for electric ground vehicles (EGVs) with four independent in-wheel motors. By utilizing the individual wheel dynamics, the longitudinal ground friction force is estimated from a PID observer based on a descriptor linear system approach. Moreover, the lateral ground friction force for each wheel is estimated through the friction ellipse relationship given the estimated longitudinal friction force, without relying on explicit tire models. Since the estimation errors of friction forces may bring parameter uncertainty for the LPV system, robust analysis with desired H-infinity performance is given for the observer design of the LPV modeling. This method is specially proposed for large tire slip angles and lateral friction forces. Simulation results for different maneuvers validate this novel sideslip angle estimation method.

Hyperbolic observer design for a class of nonlinear systems

2021 ◽  
Vol 145 ◽  
pp. 110785
Author(s):  
Majid Parvizian ◽  
Khosro Khandani
Keyword(s):  
Nonlinear Systems ◽  
Observer Design

A variable structure adaptive extended Kalman filter for vehicle slip angle estimation

2011 ◽  
Vol 56 (1/2/3/4) ◽  
pp. 161 ◽  
Author(s):  
ang Li ◽  
Jian Song ◽  
Hongzhi Li ◽  
Zhang Xiaolong ◽  
ang Li ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Variable Structure ◽  
Slip Angle ◽  
Angle Estimation ◽  
Adaptive Extended Kalman Filter

Set-observer design for consistency checks of nonlinear systems

2009 ◽  
Vol 42 (8) ◽  
pp. 1210-1215
Author(s):  
Gaétan Videau ◽  
Tarek Raïssi ◽  
Ali Zolghadri
Keyword(s):  
Nonlinear Systems ◽  
Observer Design
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