A Sliding Mode Lateral Velocity Observer

Abstract

A lateral velocity estimation scheme whose stability can be analytically derived (rather than empirically demonstrated through cut-and-try) is attempted. The designed adaptive sliding mode observer shows robust performance under a wide variety of maneuvers/ environments, including the more challenging slow J-turn on low mu.

6 pages, 15 figures. Author's original manuscript of the paper published in the Proceedings of the 6th International Symposium on Advanced Vehicle Control (AVEC '02), Hiroshima, Japan, 9-13 September 2002