A Comprehensive Benchmarking Study of Various Non-linear State Estimators for Vehicle Sideslip Angle Estimation

This paper examines various non-linear state estimators for accuracy and robustness, estimating vehicle sideslip angle which is crucial for improving vehicle handling, stability, and safety in modern vehicle dynamic control systems. The study compares the performance of different state estimators under various driving conditions and driving scenarios, with a particular focus on a novel two-stage observer (of order n = 2) that combines a super-twisting sliding mode observer and a conventional sliding mode filter. The results demonstrate the effectiveness of the proposed observer, which outperforms other state estimators in terms of accuracy and robustness.