Robust $H_{\infty}$ Estimation of Sideslip Angle of Vehicles with Fading Measurements

This study reports the robust sideslip angle estimation of vehicles with an uncertain tire cornering stiffness and fading measurements. The missing measurement and possible inaccuracy in the measurement of the vehicle's yaw rate are considered by using a random variable distributed over [0, 1]. Norm-bounded uncertainties are considered in the vehicle's tire cornering stiffness. Next, the Lyapunov stability theory is used to design a sideslip angle estimator such that the filtering error dynamics is stochastically stable and the
$H_{\infty}$
performance criterion is met. The desired parameters of the proposed
$H_{\infty}$
sideslip angle estimator are gained by solving a linear matrix inequality (LMI) problem. Simulation results show that the proposed novel estimator can efficiently estimate the sideslip angle while it demonstrates robust performance to uncertainties and fading measurements.