제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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- Pages.476-476
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- 2000
Estimation of Vehicle Sideslip Angle for Four-wheel Steering Passenger Cars
- Kim, Hwan-Seong (Dept. of Logistics Eng., Korea Maritime University) ;
- You, Sam-Sang (School of Mech. & Infor. Eng., Korea Maritime University)
- 발행 : 2000.10.01
초록
This paper deals with an estimation method far sideslip angle by using an unknown input observation technique in 4WS passenger car systems. Firstly, a 4WS vehicle model with 3DOP is derived under the constant velocity and same tyre's properties. The induced model is transformed into the linear state space model with considering the external disturbance. Secondly, an unknown input observer is introduced and its property which estimating the states of system without any disturbance information is shown. Lastly, the estimated sideslip angle of the 4WS system is verified through numerical simulation.