Sideslip angle estimation of ground vehicles in a finite frequency domain through H-infinity approach

Doha El Hellani (1) , Ahmed El Hajjaji (1) , Roger Ceschi (2) , Abdel Aitouche (3)

1 MIS - Modélisation, Information et Systèmes - UR UPJV 4290
2 FSATI, Department of Electrical Electronic and Computer Engineering
3 CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189

This paper studies the sideslip angle estimation problem of a ground vehicle in a finite frequency (FF) domain. The main objective is to estimate the sideslip angle using the yaw rate measurements. Filter design conditions are developed based on the uncertain lateral dynamics model, and time domain interpretations of the kalman Yakubovich Popov lemma (GKYP lemma) The designed filter ensures that the estimation error system is stable and has a prescribed H-infinity attenuation level, over a specified FF domain of the vehicle steering angle. Simulation results are presented to demonstrate the effectiveness of the proposed approach.

Domaines: Automatique / Robotique

Doha El Hellani, Ahmed El Hajjaji, Roger Ceschi, Abdel Aitouche. Sideslip angle estimation of ground vehicles in a finite frequency domain through H-infinity approach. 2018 26TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), Jun 2018, Zadar, Croatia. pp.735-740. ⟨hal-03633226⟩