Experimental validation of vehicle sideslip angle observers

Abstract

This paper compares four observers (virtual sensors) of vehicle sideslip angle. The first is linear and uses a linear vehicle model. The remaining observers use an extended nonlinear model. The three nonlinear observers are: extended Luenberger observer, extended Kalman filter and sliding mode observer. Modeling, model simplification and observers are described. The different observers use sensors available on actual standard car: the yaw rate and the vehicle speed. This study validates observers on simulated data from a recognized simulator Callas and on experimental data acquired on the Heudiasyc laboratory car. An optical speed sensor "Correvit" is used to acquire the sideslip angle.