Robust sideslip angle estimation for over-actuated electric vehicles: A linear parameter varying system approach

Yan Chen, Junmin Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

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 languageEnglish (US)
Title of host publicationNonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Print)9780791856147
DOIs
StatePublished - Jan 1 2013
Externally publishedYes
EventASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States
Duration: Oct 21 2013Oct 23 2013

Publication series

NameASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Volume3

Other

OtherASME 2013 Dynamic Systems and Control Conference, DSCC 2013
CountryUnited States
CityPalo Alto, CA
Period10/21/1310/23/13

ASJC Scopus subject areas

  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Robust sideslip angle estimation for over-actuated electric vehicles: A linear parameter varying system approach'. Together they form a unique fingerprint.

  • Cite this

    Chen, Y., & Wang, J. (2013). Robust sideslip angle estimation for over-actuated electric vehicles: A linear parameter varying system approach. In Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; [V003T41A003] (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013; Vol. 3). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2013-3777