Sliding Mode Observer for Vehicle States Estimation

Abstract

Vehicle states estimation is one of key points in real-time control for autonomous vehicle. Although there are many solutions to estimate vehicle states, some problems still exist in Luenberger observer and linear quadratic observer respectively. This paper proposes a sliding mode observer for vehicle states estimation. The method is developed to make observer irrespective of any uncertain matched noises. Then, the proposed observer could give robust performance for such matched noises. The proposed method is validated via MATLAB/Simulink.