标题：A Globally Exponentially Convergent I&I Observer for Vehicles with Roll Dynamics * * This work was supported by CONACYT, Mexico, under grant 252405.
摘要：AbstractIn this paper an observer for a vehicle system considering roll dynamics is presented. The observer design is based on the well-known Immerse and Invariance (I&I) technique to estimate the lateral velocity, roll angle and roll velocity of the vehicle from the measurements of the longitudinal/lateral accelerations, longitudinal velocity, yaw rate and steer angle. Furthermore, under practical considerations, global exponential convergence can be assured. To assess the performance of the observer, an observer-based control using the super-twisting algorithm has been derived and validated through numerical simulations.
