Table 2 Average of the absolute values of side slip angle estimation error under the influence of parameter variations between 80% and 120% of the nominal values of sprung mass m, yaw inertia \(J_{zz}\), and vehicle speed v.
From: T-S fuzzy approach for real-time vehicle state estimation and road safety enhancement
Variation | T-S Observer | FO | PMIO | FUOI |
|---|---|---|---|---|
80% m | \(8.572755 \times 10^{-3}\) | \(8.572927 \times 10^{-3}\) | \(8.573402 \times 10^{-3}\) | \(1.439805 \times 10^{-2}\) |
80% v | \(1.550698 \times 10^{-2}\) | \(1.550715 \times 10^{-2}\) | \(1.550762 \times 10^{-2}\) | \(1.511658 \times 10^{-2}\) |
80% \(J_{zz}\) | \(1.093888 \times 10^{-3}\) | \(1.093919 \times 10^{-3}\) | \(1.094219 \times 10^{-3}\) | \(7.693039 \times 10^{-3}\) |
90% m | \(4.511087 \times 10^{-3}\) | \(4.511258 \times 10^{-3}\) | \(4.511733 \times 10^{-3}\) | \(1.068700 \times 10^{-2}\) |
90% v | \(8.155572 \times 10^{-3}\) | \(8.155742 \times 10^{-3}\) | \(8.156217 \times 10^{-3}\) | \(1.100316 \times 10^{-2}\) |
90% \(J_{zz}\) | \(8.681782 \times 10^{-4}\) | \(8.682074 \times 10^{-4}\) | \(8.685089 \times 10^{-4}\) | \(7.746213 \times 10^{-3}\) |
110% m | \(4.331730 \times 10^{-3}\) | \(4.331617 \times 10^{-3}\) | \(4.331142 \times 10^{-3}\) | \(8.235821 \times 10^{-3}\) |
110% v | \(8.197796 \times 10^{-3}\) | \(8.197682 \times 10^{-3}\) | \(8.197209 \times 10^{-3}\) | \(8.874272 \times 10^{-3}\) |
110% \(J_{zz}\) | \(8.676059 \times 10^{-4}\) | \(8.676404 \times 10^{-4}\) | \(8.679451 \times 10^{-4}\) | \(7.874509 \times 10^{-3}\) |
120% m | \(7.853189 \times 10^{-3}\) | \(7.853076 \times 10^{-3}\) | \(7.852602 \times 10^{-3}\) | \(1.145030 \times 10^{-2}\) |
120% v | \(1.569571 \times 10^{-2}\) | \(1.569560 \times 10^{-2}\) | \(1.569512 \times 10^{-2}\) | \(1.255470 \times 10^{-2}\) |
120% \(J_{zz}\) | \(1.091731 \times 10^{-3}\) | \(1.091767 \times 10^{-3}\) | \(1.092059 \times 10^{-3}\) | \(7.951806 \times 10^{-3}\) |
