Title: Sideslip Angle Estimation Based Vehicle Dynamics Control
In this talk, some of my recent research activities will be briefly introduced, then the novel design of a sideslip angle observer and an observer-based stability controller for a vehicle with nonlinear tyre model and varying forward speed will be discussed. The Takagi-Sugeno (T-S) fuzzy modelling technique is applied to represent the vehicle lateral dynamics with the nonlinear Dugoff tyre model and varying speed. The observer and the observer-based controller are constructed using the measured yaw rate and the estimated premise and state variables, and are designed to be robust against the model and parameter uncertainties. The conditions for designing such an observer and an observer-based controller are derived in terms of linear matrix inequalities (LMIs). Numerical simulations on a nonlinear 8-degree-of-freedom vehicle dynamics model and experimental data are conducted to validate the effectiveness of the proposed approach. The comparison results with other existing approaches show that the designed observer can accurately estimate the vehicle sideslip angle and the controller can effectively control the sideslip angle regardless of the variation of vehicle longitudinal velocity.
Haiping Du received his Ph.D. degree in mechanical design and theory from Shanghai Jiao Tong University, Shanghai, PR China, in 2002. He was Research Fellow in University of Technology, Sydney from 2005-2009, and Post-Doctoral Research Associate in Imperial College London (2003-2005) and the University of Hong Kong (2002-2003). He is currently Associate Professor of School of Electrical, Computer & Telecommunications Engineering, University of Wollongong. He is the Editorial Advisory Board Member of Journal of Sound and Vibration, Editorial Board Member of Journal of Systems and Control Engineering and the associate editor of IEEE Control Systems Society Conference.