Simultaneous Estimation of Vehicle Sideslip and Roll Angles Using an Integral-Based Event-Triggered H$_{\infty }$ Observer Considering Intravehicle Communications

In recent years, several technological advances have been incorporated into vehicles to ensure their safety and ride comfort. Most of these driver-assistance technologies aim to prevent skidding, whereas less attention has been paid to the avoidance of other dangerous situations such as a rollover. Since knowledge of slip and roll angles is critical to the control and safety of vehicle handling, their estimation remains of great interest when addressing emerging constraints in modern technologies involving networked communications and distributed computing. This paper presents an integral-based event-triggered H
$_{\infty }$
observer to simultaneously estimate the sideslip and roll angles, considering intravehicle communications with a networked-induced delay. As the longitudinal velocity and tire cornering stiffness of a vehicle can vary significantly during driving and have a strong influence on vehicle lateral stability, these time-varying parameter uncertainties are considered in the design of the observer. The simulation and experimental results demonstrate the effectiveness of the proposed observer.