Robust design of body slip angle observer with cornering power identification at each tire for vehicle motion stabilization

Body slip angle is important for vehicle´s safety. However as sensors to measure beta are very expensive, we need to estimate beta from only variables to be measurable. In this paper,we propose a novel method based on gamma and side acceleration a_y. To make this observer more robust, we design the observer´s gain matrix for robustness and propose how to identify cornering power at each tire. Next, we proposed new control methods for 2-dimension control. We control beta by yaw moment with PID controller. This method is known as DYC (direct yaw moment control) in internal combustion engine vehicles (ICVs). In EVs with in-wheel motors, the torque difference can be generated directly. We performed experiments by UOT MarchII. The experimental results proved that our proposed method is excellent