Adaptive Side Slip Angle Observer Using Simple Combined Vehicle Dynamics

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-infinity 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.