首页|Data-Based Estimator Design for Sideslip Angles of Autonomous Ground Vehicles

Data-Based Estimator Design for Sideslip Angles of Autonomous Ground Vehicles

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  • NETL
  • NSTL
  • IEEE
This paper deals with sideslip angle estimation problems of autonomous ground vehicles that repeatedly perform the specific tasks in the absence of model knowledge for their lateral dynamics. By designing appropriate estimators, the equivalence between estimator auxiliary input synthesis and output feedback stabilization along the iteration axis is established. Moreover, we propose an innovative data-based output feedback stabilization framework that leverages insufficient sampled data to formulate an output feedback controller without the need of identification. To be specific, with the application of some helpful linear matrix inequality (LMI) techniques, the data-based synthesis of required output feedback controller is transformed into solving the equivalent LMI conditions. By employing the proposed data-based estimation strategy and partial lateral dynamics information of ground vehicles, accurate estimation of sideslip angles over the entire estimation duration can be achieved even in the presence of disturbances. Experiments on an Ackermann steering intelligent vehicle are provided to demonstrate the effectiveness of the proposed estimation strategy.

Land vehiclesWheelsVehicle dynamicsOutput feedbackAccuracyObserversEstimation errorTiresLinear matrix inequalitiesElectronic mail

Chenchao Wang、Deyuan Meng、Honggui Han、Kaiquan Cai

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School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, P. R. China|Seventh Research Division, Beihang University (BUAA), Beijing, P. R. China

School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, P. R. China|Seventh Research Division, Beihang University (BUAA), Beijing, P. R. China|State Key Laboratory of CNS/ATM, Beijing, P. R. China

Faculty of Information Technology, Beijing Key Laboratory of Computational Intelligence and Intelligent System, Engineering Research Center of Digital Community, Ministry of Education, Beijing Laboratory of Smart Environmental Protection, Beijing University of Technology, Beijing, P. R. China

School of Electronics and Information Engineering, Beihang University (BUAA), Beijing, P. R. China|State Key Laboratory of CNS/ATM, Beihang University (BUAA), Beijing, P. R. China

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2025

10.1109/TITS.2025.3535828

IEEE transactions on intelligent transportation systems

IEEE transactions on intelligent transportation systems

ISSN：
年,卷(期)：2025.26(4)