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

Abstract : 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.