A direct Moving Horizon approach to vehicle side-slip angle estimation

The application of a Moving Horizon Estimator (MHE) to the problem of vehicle side-slip angle estimation is studied. In particular, it is shown that MHEs can be represented as Nonlinear Finite Impulse Response (NFIR) filters. Then, in order to allow online implementation and guaranteed estimation accuracy, an optimal NFIR filter is derived directly from data. Comparisons between the standard model based MHE approach and the direct one are carried using a detailed vehicle model.