Title :
A direct Moving Horizon approach to vehicle side-slip angle estimation
Author :
Canale, M. ; Fagiano, L. ; Novara, C.
Author_Institution :
Dipt. di Autom. e Inf., Politec. di Torino, Torino, Italy
Abstract :
The application of a Moving Horizon Estimator (MHE) to the problem of vehicle side-slip angle estimation is studied. In particular, it is shown that MHEs can be represented as Nonlinear Finite Impulse Response (NFIR) filters. Then, in order to allow online implementation and guaranteed estimation accuracy, an optimal NFIR filter is derived directly from data. Comparisons between the standard model based MHE approach and the direct one are carried using a detailed vehicle model.
Keywords :
FIR filters; angular measurement; motion control; motion estimation; nonlinear filters; optimal control; vehicle dynamics; MHE approach; estimation accuracy; moving horizon estimator; nonlinear finite impulse response filter; optimal NFIR filter; vehicle side-slip angle estimation; Data models; Estimation error; Optimization; Sensors; Vehicles; Voltage control;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5717096
