Vehicle Yaw Rate and Sideslip Estimations: An Application for Comparative Analysis of a MIMO Youla Controller Output Observer, Linear and Nonlinear Kalman Filters, and Kinematic Computation

To reveal the benefits of a newly developed estimation technique Youla Controller Output Observer (YCOO) [1], this paper provides a comparative study a MIMO (Multiple Input Multiple Output) YCOO and various types of Kalman Filters, such as (Linear) Kalman Filter (LKF), Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF), in estimating yaw rate and sideslip of a vehicle. We compare how each estimation technique performs and test the robustness of these estimators under plant parameters and environmental uncertainties, such as vehicle mass and tire-road coefficient of friction variations. We consider realistic situations such as sensor bias, and provide analysis and potential solutions for YCOO when dealing with these practical problems.