Interval observer for LPV systems: Application to vehicle lateral dynamics

Abstract : This paper presents a new method for guaranteed and robust estimation of sideslip angle and lateral tire forces with consideration of cornering stiffness variations resulting from changes in tire/road and driving conditions. An interval LPV observer with both measurable and unmeasurable time-varying parameters is proposed. The longitudinal velocity is treated as the online measured time-varying parameter and the cornering stiffness at front and rear tires are assumed to be unknown but bounded with a priori known bounds. The obtained results are no more punctual values but a set of acceptable values. The simulation is based on experimental data in order to prove the effectiveness of the proposed observers.