Conference Paper

# Robust design of body slip angle observer with cornering power identification at each tire for vehicle motion stabilization

Dept. of Electr. Eng., Tokyo Univ.

DOI: 10.1109/AMC.2006.1631726 Conference: Advanced Motion Control, 2006. 9th IEEE International Workshop on Source: IEEE Xplore

- [Show abstract] [Hide abstract]

**ABSTRACT:**Vehicle sideslip angle can be estimated using either dynamic or kinematic models. The dynamic model requires vehicle parameters, which might have uncertainties due to different load conditions, vehicle motions, and road frictions. Parameter uncertainties might result in estimation errors. Thus system identifications are required to estimate those parameters online. On the other hand, the kinematic model does not require these parameters. A closed-loop estimator can be formulated to estimate the sideslip angle using the kinematic model. Since the system matrix which consists of the yaw rate is time varying, the required input vector and output contain process and measurement noises, respectively, and the disturbance input matrix contains estimated states, extended Kalman filter is used to obtain the estimation gain in this paper. CarSim is used to evaluate the proposed approach under different driving scenarios and road frictions in Matlab/Simulink. The preliminary results show promising improvement of the sideslip angle estimation.Vehicle System Dynamics 09/2008; 46:353-364. · 0.87 Impact Factor - [Show abstract] [Hide abstract]

**ABSTRACT:**In this paper, we propose a yaw moment control based on fuzzy-logic controller to enhance the vehicle stability. A two-degree-of-freedom nonlinear model of the considered vehicle is briefly presented. The feedback of the yaw rate and sideslip angle are regarded as inputs of the controller. The developed controller generates the suitable steering angle so that the vehicle follows the target values of the yaw rate. A simulation is performed at different conditions. The simulation results show that the yaw rate of controlled vehicle follow the target value of the desired yaw rate, degrading the values of the sideslip angle, when the vehicle is subject to different cornering maneuvers such as change line and step signal.Education Technology and Computer Science, International Workshop on. 01/2010; 1:125-128. -
##### Conference Paper: Proposal of a range extension control system with arbitrary steering for in-wheel motor electric vehicle with four wheel steering

[Show abstract] [Hide abstract]

**ABSTRACT:**In this paper, a range extension control system with vehicle dynamics control is proposed. Front and rear active steering and torque difference between left and right in-wheel motors enable yaw rate and side-slip angle control with higher energy efficiency. The effectiveness of the proposed method was verified by both simulations and experiments.2014 IEEE 13th International Workshop on Advanced Motion Control (AMC); 03/2014

Data provided are for informational purposes only. Although carefully collected, accuracy cannot be guaranteed. The impact factor represents a rough estimation of the journal's impact factor and does not reflect the actual current impact factor. Publisher conditions are provided by RoMEO. Differing provisions from the publisher's actual policy or licence agreement may be applicable.