In advanced vehicle stability control systems, the availability of online estimates of the vehicle attitude is essential. In four-wheeled vehicles, attitude information is deeply linked to vehicle sideslip angle and sideslip rate, since these variables are strictly related to instability phenomena, safety and handling performances. As direct measurements of such quantities cannot be performed with standard sensors equipment, the design of robust and efficient estimators is needed. In this paper, we tackle the problem by proposing a sideslip rate observer and by demonstrating how an existing sideslip estimation algorithm can be made robust and reliable by online compensation of the sensors bias via a recursive identification approach. The proposed method does not require any additional sensor, making the final solution suitable for industrial applications. Experimental results confirm the effectiveness of the sensors offset compensation and witness satisfactory results of the overall vehicle attitude estimation scheme.
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ASME 2009 Dynamic Systems and Control Conference
October 12–14, 2009
Hollywood, California, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4892-0
PROCEEDINGS PAPER
Control-Oriented Vehicle Attitude Estimation With Online Sensors Bias Compensation
Giulio Panzani,
Giulio Panzani
Politecnico di Milano, Milano, Italy
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Matteo Corno,
Matteo Corno
Politecnico di Milano, Milano, Italy
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Mara Tanelli,
Mara Tanelli
Politecnico di Milano, Milano, Italy
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Sergio M. Savaresi,
Sergio M. Savaresi
Politecnico di Milano, Milano, Italy
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Andrea Fortina,
Andrea Fortina
Fiat Group Automobiles S.p.A., Torino, Italy
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Sebastiano Campo
Sebastiano Campo
Fiat Group Automobiles S.p.A., Torino, Italy
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Giulio Panzani
Politecnico di Milano, Milano, Italy
Matteo Corno
Politecnico di Milano, Milano, Italy
Mara Tanelli
Politecnico di Milano, Milano, Italy
Sergio M. Savaresi
Politecnico di Milano, Milano, Italy
Andrea Fortina
Fiat Group Automobiles S.p.A., Torino, Italy
Sebastiano Campo
Fiat Group Automobiles S.p.A., Torino, Italy
Paper No:
DSCC2009-2531, pp. 819-826; 8 pages
Published Online:
September 16, 2010
Citation
Panzani, G, Corno, M, Tanelli, M, Savaresi, SM, Fortina, A, & Campo, S. "Control-Oriented Vehicle Attitude Estimation With Online Sensors Bias Compensation." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 1. Hollywood, California, USA. October 12–14, 2009. pp. 819-826. ASME. https://doi.org/10.1115/DSCC2009-2531
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