Real-time automotive slip angle estimation with nonlinear observer

G. Phanomchoeng, R. Rajamani, D. Piyabongkarn

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations


This paper utilizes a new nonlinear observer design technique for estimation of slip angle in automotive applications. Inexpensive sensors that measure yaw rate and lateral acceleration and are normally available for yaw stability control systems are used. The observer design approach utilizes the mean value theorem to express the nonlinear error dynamics as a convex combination of known matrices with time varying coefficients. A modified form of the mean value theorem for vector nonlinear systems is presented. The observer gains are then obtained by solving linear matrix inequalities (LMIs). The developed approach also can enable observer design for a large class of differentiable nonlinear systems with a globally (or locally) bounded Jacobian. The developed nonlinear observer is evaluated through experimental tests on a Volvo XC90 sport utility vehicle. Detailed experimental results show that the developed nonlinear observer can reliably estimate slip angle for a variety of test maneuvers on road surfaces with different friction coefficients.

Original languageEnglish (US)
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
Number of pages6
StatePublished - Sep 29 2011
Event2011 American Control Conference, ACC 2011 - San Francisco, CA, United States
Duration: Jun 29 2011Jul 1 2011

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2011 American Control Conference, ACC 2011
Country/TerritoryUnited States
CitySan Francisco, CA


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