Design of Robust Observers for Active Roll Control

Abstract

This paper presents robust observers for active roll control. Generally, active roll control adopts feedback control structure with roll angle and roll rate signals which should be measured with a sensor. For active roll control, it is necessary to estimate the roll angle with roll rate measurement using an observer because the roll angle is difficult to measure, compared to the roll rate. However, an observer designed with fixed parameters can give poor estimation performance since there are large uncertainty in parameters of real vehicles. A robust observer is designed to cope with the parameter uncertainty. In this paper, a dual Kalman filter and Kalman filter with constant velocity model are adopted as a robust observer. The performance of the proposed algorithm has been investigated via computer simulations and vehicle tests.

Keywords

• Active roll control
• parameter uncertainty
• robust observer
• dual Kalman filter
• Kalman filter with constant velocity model