Open AccessRobust sideslip angle observer with regional stability constraint for an uncertain singular intelligent vehicle system
Author(s) -
Chen Te,
Chen Long,
Cai Yingfeng,
Xu Xing
Publication year - 2018
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2017.1395
Subject(s) - control theory (sociology) , yaw , heading (navigation) , constraint (computer aided design) , observer (physics) , slip angle , stability (learning theory) , euler angles , angle of attack , electronic stability control , vehicle dynamics , engineering , computer science , mathematics , control (management) , steering wheel , artificial intelligence , physics , aerodynamics , aerospace engineering , mechanical engineering , quantum mechanics , machine learning , geometry
The sideslip angle is an important state parameter for vehicle stability control; in this study, a robust sideslip angle observer with regional stability constraint is presented. In order to achieve more accurate sideslip angle estimation, the vehicle heading angle and yaw angle are distinguished and the relational expression between vehicle heading angle, yaw angle and sideslip angle was applied to the singular vehicle modelling process. Considering the time‐varying tire cornering stiffness, the uncertain singular vehicle model is established by integrating the singular vehicle dynamic equation and model uncertainty. Then, a robust sideslip angle observer whose pole assignment has the regional stability constraint is designed. Simulation studies and experimental results illustrate the effectiveness of the proposed sideslip angle estimation method.