By Topic

Design of a Nonlinear Observer for Vehicle Velocity Estimation and Experiments

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Lin-Hui Zhao ; Dept. of Control Sci. & Eng., Harbin Inst. of Technol., Harbin, China ; Zhi-Yuan Liu ; Hong Chen

This brief presents a nonlinear observer for estimating the longitudinal and lateral velocities based on Dugoff's tire model and vehicle dynamics. The observer has a fixed gain structure and can make full use of information about acceleration measurements and nonlinear vehicle model. A sufficient condition is derived to guarantee the stability of the observer, and the robustness of the observer with respect to additive disturbances is analyzed with the help of input-to-state stability theory. The performance of the observer is compared with that of existing approaches and evaluated experimentally under a variety of maneuvers and road conditions.

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:19 ,  Issue: 3 )