### Abstract

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 language | English (US) |
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Title of host publication | Proceedings of the 2011 American Control Conference, ACC 2011 |

Pages | 3942-3947 |

Number of pages | 6 |

State | Published - Sep 29 2011 |

Event | 2011 American Control Conference, ACC 2011 - San Francisco, CA, United States Duration: Jun 29 2011 → Jul 1 2011 |

### Publication series

Name | Proceedings of the American Control Conference |
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ISSN (Print) | 0743-1619 |

### Other

Other | 2011 American Control Conference, ACC 2011 |
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Country | United States |

City | San Francisco, CA |

Period | 6/29/11 → 7/1/11 |

### Fingerprint

### Cite this

*Proceedings of the 2011 American Control Conference, ACC 2011*(pp. 3942-3947). [5991054] (Proceedings of the American Control Conference).

**Real-time automotive slip angle estimation with nonlinear observer.** / Phanomchoeng, G.; Rajamani, R.; Piyabongkarn, D.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*Proceedings of the 2011 American Control Conference, ACC 2011.*, 5991054, Proceedings of the American Control Conference, pp. 3942-3947, 2011 American Control Conference, ACC 2011, San Francisco, CA, United States, 6/29/11.

}

TY - GEN

T1 - Real-time automotive slip angle estimation with nonlinear observer

AU - Phanomchoeng, G.

AU - Rajamani, R.

AU - Piyabongkarn, D.

PY - 2011/9/29

Y1 - 2011/9/29

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=80053148145&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=80053148145&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:80053148145

SN - 9781457700804

T3 - Proceedings of the American Control Conference

SP - 3942

EP - 3947

BT - Proceedings of the 2011 American Control Conference, ACC 2011

ER -