Takagi-Sugeno Fuzzy-based Kalman Filter Observer for Vehicle Side-slip Angle Estimation and Lateral Stability Control

Abstract

In current literature, the side-slip angle estimation has been extensively focused due to the importance of the side-slip angle information on the vehicle system control. In this study, the innovative Kalman filter observer for side-slip angle is proposed based on the Takagi-Sugeno (T-S) fuzzy modeling of vehicle non-linear lateral dynamics. Then based on the estimated side-slip angle, the fuzzy logic direct yaw moment controller is proposed to improve the vehicle performance. Finally, simulation results are presented to verify the proposed estimator and controller.