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Both steering angle and sideslip angle are important states for vehicle handling and stability control. Instead of directly measuring these angles, indirect estimation of these states will provide a cost-effective way for the implementation of vehicle control systems. In the past, model-based methods have been proposed to estimate the sideslip angle with the measured steering angle. In this paper,...
This paper presents a novel design of kinematics-based observer for vehicle sideslip angle estimation. A parameter-varying model is firstly obtained by regarding the measured yaw rate as a varying parameter. A yaw rate scheduled parameter-varying observer is then constructed using the measured yaw rate and accelerations, and is designed to be robust against the measurement noises. The conditions for...
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