Nonlinear Observer-based Active Control of Ground Vehicles with non Negligible Roll Dynamics

In this paper we present an observer-based nonlinear controller for lateral and yaw velocity, for a vehicle in which the roll dynamics can not be neglected. The observer estimates the lateral velocity, and the roll position and velocity. This technique is based on measurements of the longitudinal and lateral accelerations, longitudinal velocity, yaw rate and steer angle, usually available in modern vehicles. The nonlinear observer ensures exponential convergence of the estimations. The test maneuvers, obtained with the full-vehicle CarSim model under different road adhesion conditions, have been used to check the controller performance, as well as its robustness with respect to parameter variations.