Simultaneous estimation of road friction and sideslip angle based on switched multiple non-linear observers

摘要

In this study the author develop a practically stable switched non-linear observer bank for simultaneously estimating the vehicle sideslip angle and the road friction coefficient. Each individual non-linear state estimator in the observer bank is based on a non-linear lateral dynamics vehicle model that is parametrised with a distinct road friction coefficient. The inputs to the non-linear observers are typical signals that are available within lateral stability control systems, which include the vehicle speed, steer angle, lateral acceleration and the yaw rate. The authors show that the suggested non-linear state estimator is practically stable under arbitrary switching. Finally, the authors provide numerical simulations to demonstrate the efficacy of our switched non-linear observer design technique.