Title: Unknown-input observer for vehicle lateral dynamics using new sensor force technology

Authors: Fatima Ezzahra Saber; Mohamed Ouahi; Abdelmjid Saka

Addresses: LISA, USMBA University, Fez, Morocco ' LISA, USMBA University, Fez, Morocco ' LISA, USMBA University, Fez, Morocco

Abstract: Robust estimation of important states for vehicles (steering angle and sideslip angle) is essential for vehicle handling and stability control. In the past, the estimation of vehicle lateral state with the measured steering angle has been proposed. In this paper, four unknown input observers are designed using lateral tyre force measurements based on a nonlinear vehicle model, to simultaneously estimate vehicle steering angle as unknown input and vehicle lateral state variables sideslip angle and yaw rate. All of the design conditions are formulated in terms of linear matrix inequalities (LMI) which can be solved efficiently. Simulation results through MATLAB/Simulink software based on data of the CALLAS vehicle simulator are used to evaluate the performance of observers based on nonlinear unknown input observer (ONEI).

Keywords: vehicle dynamics; unknown input observer; state estimation; driver assistance systems.

DOI: 10.1504/IJVSMT.2019.10023122

International Journal of Vehicle Systems Modelling and Testing, 2019 Vol.13 No.3, pp.199 - 222

Received: 22 Feb 2018
Accepted: 07 Nov 2018

Published online: 12 Aug 2019 *

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