### Abstract

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.

Original language | English (US) |
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Title of host publication | Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; |

Publisher | American Society of Mechanical Engineers (ASME) |

Volume | 3 |

ISBN (Print) | 9780791856147 |

DOIs | |

State | Published - 2013 |

Externally published | Yes |

Event | ASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States Duration: Oct 21 2013 → Oct 23 2013 |

### Other

Other | ASME 2013 Dynamic Systems and Control Conference, DSCC 2013 |
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Country | United States |

City | Palo Alto, CA |

Period | 10/21/13 → 10/23/13 |

### Fingerprint

### ASJC Scopus subject areas

- Control and Systems Engineering

### Cite this

*Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;*(Vol. 3). [V003T41A003] American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2013-3777

**Robust sideslip angle estimation for over-actuated electric vehicles : A linear parameter varying system approach.** / Chen, Yan; Wang, Junmin.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;.*vol. 3, V003T41A003, American Society of Mechanical Engineers (ASME), ASME 2013 Dynamic Systems and Control Conference, DSCC 2013, Palo Alto, CA, United States, 10/21/13. https://doi.org/10.1115/DSCC2013-3777

}

TY - GEN

T1 - Robust sideslip angle estimation for over-actuated electric vehicles

T2 - A linear parameter varying system approach

AU - Chen, Yan

AU - Wang, Junmin

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84902377765&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84902377765&partnerID=8YFLogxK

U2 - 10.1115/DSCC2013-3777

DO - 10.1115/DSCC2013-3777

M3 - Conference contribution

AN - SCOPUS:84902377765

SN - 9780791856147

VL - 3

BT - Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;

PB - American Society of Mechanical Engineers (ASME)

ER -