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Stochastic robust hybrid observer with applications to automotive slip angle estimation
, Article ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE) ; Vol. 4B, issue , 2014 ; ISBN: 9780791846483 ; Razavi, H ; Salarieh, H ; Alasty, A ; Meghdari, A ; Sharif University of Technology
Abstract
In this article, the state estimation for Automotive Slip Angle considering the measurement noise in sensor is addressed. Realtime measurement of the slip angle is applicable to many active vehicle safety applications, such as rollover prevention and yaw stability control. As the sensors that measure slip angle directly are expensive, the method to extract slip angle from other available sensors in vehicle is considered. First from the simplified nonlinear dynamic system of vehicle, a Piecewise Affine (PWA) model with calculated uncertainties is obtained. The uncertainties are the result of nonlinear system deviation from PWA model. Then using the PWA model, a Stochastic Robust Hybrid...