NDLI: UKF-based adaptive variable structure observer for vehicle sideslip with dynamic correction

Content Provider	IET Digital Library
Author	Chen, Jie Song, Jian Li, Liang Jia, Gang Ran, Xu Yang, Cai
Abstract	Knowing vehicle sideslip angle is important and useful in various vehicle active safety applications. However, equipment which could directly measure sideslip angle is usually too expensive for industrial applications, so a reliable, affordable sideslip angle observer is necessary. Model-based observer is affected by the model uncertainty, non-linearity and the road friction inaccuracy. Sensor-based observer might be easily affected by the sensor noise and the bias induced by the road micro-uneven. Thus, an unscented Kalman filter (UKF)-based adaptive variable structural observer with dynamic correction (AUKF) for vehicle body sideslip angle is brought forward in this study. First, an UKF observer with adaptive parameters is used to compensate the model uncertainty. Then, a sensor-based observer is applied to realise a variable structure observer to compensate the estimation error in the highly non-linear region. A pseudointegral method and a zero point reset method are adopted to dynamically correct the bias drift problem in the integral. Both simulations and real vehicle tests validated the proposed approach. The accurate vehicle sideslip angle is measured by a differential global positioning system. Results show that the proposed approach has better performance compared with traditional UKF method, and makes a good foundation for stability control.
Starting Page	1641
Ending Page	1652
Page Count	12
ISSN	17518644
Volume Number	10
e-ISSN	17518652
Issue Number	Issue 14, Sep (2016)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/10/14
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2015.1030
Journal	IET Control Theory & Applications
Publisher Date	2016-06-09
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	AUKF Bias Drift Problem Buckling And Instability Differential Global Positioning System Dynamic Correction Error Compensation Estimation Error Compensation Kalman Filter Mechanical Engineering Mechanical Stability Modelling And Identification Multivariable Control System Nonlinear Filter Observers Pseudointegral Method Road Traffic System Control Road Vehicle Sensor-based Observer Signal Processing Theory Simulation Stability Control UKF-based Adaptive Variable Structure Observer Unscented Kalman Filter Variable Structure System Vehicle Body Sideslip Angle Vehicle Dynamics Vehicle Mechanics Vehicle Tests Zero Point Reset Method
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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