Design of a Nonlinear Observer for Vehicle Velocity Estimation and Experiments

作者：Zhao Lin Hui^*; Liu Zhi Yuan; Chen Hong

来源：IEEE Transactions on Control Systems Technology, 2011, 19(3): 664-672.

DOI：10.1109/TCST.2010.2043104

• Dugoff's tire model
• input-to-state stability (ISS)
• nonlinear observer
• vehicle dynamics
• velocity estimation

This brief presents a nonlinear observer for estimating the longitudinal and lateral velocities based on Dugoff's tire model and vehicle dynamics. The observer has a fixed gain structure and can make full use of information about acceleration measurements and nonlinear vehicle model. A sufficient condition is derived to guarantee the stability of the observer, and the robustness of the observer with respect to additive disturbances is analyzed with the help of input-to-state stability theory. The performance of the observer is compared with that of existing approaches and evaluated experimentally under a variety of maneuvers and road conditions.

• 出版日期2011-5
• 单位哈尔滨工业大学; 吉林大学