Adaptive Side Slip Angle Observer Using Simple Combined Vehicle Dynamics

Title
Adaptive Side Slip Angle Observer Using Simple Combined Vehicle Dynamics
Author
정정주
Keywords
Vehicles; Vehicle dynamics; Tires; Delay effects; Observers; Friction
Issue Date
2013-10
Publisher
IEEE
Citation
16th International IEEE Conference on Intelligent Transportation Systems, 2013, P.85-90
Abstract
In this paper, we propose a new adaptive side slip observer using a simple combined vehicle dynamics. Though there are many ways to estimate the side slip angle, some problems still exist in the popular estimation techniques based on the kinematic model, the dynamic model, and the combined kinematic-dynamic model. Therefore we propose the adaptive side slip observer. A combined model of linearized roll motion and lateral vehicle dynamics was used to involve the roll motion in the second-order lateral vehicle dynamics. Furthermore, a time delay was also applied to the combined model, reflecting the reaction time between the steering angle and the side slip angle. We designed an H∞ discrete-time slip angle observer using linear matrix inequality to reduce the infinite norm between a set of disturbance inputs and the estimation error. The performance of the proposed method was validated via simulations and experiments. [ABSTRACT FROM PUBLISHER]
URI
http://ieeexplore.ieee.org/document/6728215/http://hdl.handle.net/20.500.11754/53374
ISBN
978-1-4799-2914-6
ISSN
2153-0009; 2153-0017
DOI
10.1109/ITSC.2013.6728215
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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