Robust State Estimation for Linear Time Varying Lateral Vehicle Dynamics with Unknown Road Curvature

Markus Tranninger, Martin Steinberger, Leonid Fridman, Martin Horn, Sergiy Zhuk

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review


This paper presents a cascaded observer scheme for state estimation of the lateral vehicle dynamics. A velocity dependent linear time varying model where the road curvature acts as an unknown input is considered. The proposed observer structure is based on an H ∞ filter in combination with a higher order sliding mode compensator and yields finite time exact state reconstruction. The observer design is carried out step by step and simulation results show the applicability of the
proposed approach.
Original languageEnglish
Title of host publicationProceedings of the 15th International Workshop on Variable Structure Systems
Publication statusPublished - Jul 2018
Event15th International Workshop on Variable Structure Systems - Graz University of Technology, Graz, Austria
Duration: 9 Jul 201811 Jul 2018


Conference15th International Workshop on Variable Structure Systems
Abbreviated titleVSS 2018

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