학술논문
Vehicle Velocity Estimation using Modular Nonlinear Observers
Document Type
Conference
Source
Proceedings of the 44th IEEE Conference on Decision and Control Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on. :6728-6733 2005
Subject
Language
ISSN
0191-2216
Abstract
Nonlinear observers for estimation of lateral and longitudinal velocity of automotive vehicles are proposed, based on acceleration and yaw rate measurements in addition to wheel speed and steering angle. The observer for lateral velocity uses a tyre-road friction model. Exponential stability of the observers are shown. A structural assumption on the friction model is discussed. The observer structure is validated using experimental data from cars.