This paper studies the observer design for automatic steering. The coupled longitudinal and lateral motion is considered. A nonlinear transformation is used to transfer the system into an affinely nonlinear system. A nonlinear observer is proposed to estimate the yaw rate of vehicle. Simulation results show that the designed observer is effective.
Nonlinear observer design for automatic steering of vehicles
2002-01-01
211396 byte
Conference paper
Electronic Resource
English
NONLINEAR OBSERVER DESIGN FOR AUTOMATIC STEERING OF VEHICLES
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