This paper presents a comparison of observers for vehicle lateral dynamics. Three model-based observers are compared: firstly Luenberger observer with a linear stationary model, secondly Kalman filter with a non stationary model and lastly Luenberger observers for each subsystems of a Takagi-Sugeno multi-model. Moreover, an analysis of the lateral dynamics shows that the model discretisation may be problematic according to the signal sampling theorem and a solution is proposed, such that all the observers can be used on board of the vehicle.


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    Title :

    Comparison of observers for vehicle yaw rate estimation


    Contributors:


    Publication date :

    2018-06-01


    Size :

    2170291 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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