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

[+] Author Affiliations
Yan Chen, Junmin Wang

The Ohio State University, Columbus, OH

Paper No. DSCC2013-3777, pp. V003T41A003; 9 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5614-7
  • Copyright © 2013 by ASME


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.

Copyright © 2013 by ASME



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