期刊
IET CONTROL THEORY AND APPLICATIONS
卷 12, 期 13, 页码 1802-1811出版社
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2017.1395
关键词
vehicle dynamics; observers; road vehicles; motion control; steering systems; robust control; time-varying systems; tyres; pole assignment; stability; uncertain systems; robust sideslip angle observer; regional stability constraint; uncertain singular intelligent vehicle system; vehicle stability control; accurate sideslip angle estimation; yaw angle; singular vehicle modelling process; uncertain singular vehicle model; singular vehicle dynamic equation; sideslip angle estimation method; vehicle heading angle; sideslip angle; time-varying tire cornering stiffness; pole assignment
资金
- National Natural Science Foundation of China [U1664258, U1564201]
- 'Six Major Talent Project' of Jiangsu Province [2014-JXQC-004]
- '333 Project' of Jiangsu Province [BRA2016445]
- Primary Research & Development Plan of Jiangsu Province [BE 2017129, BE2016149]
- Natural Science Foundation of Jiangsu Province [BK 20160525]
The sideslip angle is an important state parameter for vehicle stability control; in this study, a robust sideslip angle observer with regional stability constraint is presented. In order to achieve more accurate sideslip angle estimation, the vehicle heading angle and yaw angle are distinguished and the relational expression between vehicle heading angle, yaw angle and sideslip angle was applied to the singular vehicle modelling process. Considering the time-varying tire cornering stiffness, the uncertain singular vehicle model is established by integrating the singular vehicle dynamic equation and model uncertainty. Then, a robust sideslip angle observer whose pole assignment has the regional stability constraint is designed. Simulation studies and experimental results illustrate the effectiveness of the proposed sideslip angle estimation method.
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