{"id":"https://openalex.org/W7133312068","doi":"https://doi.org/10.3390/a19030189","title":"Sideslip Angle Estimation for Electric Vehicles Based on Adaptive Weight Fusion: Collaborative Optimization of Robust Observer and Kalman Filter","display_name":"Sideslip Angle Estimation for Electric Vehicles Based on Adaptive Weight Fusion: Collaborative Optimization of Robust Observer and Kalman Filter","publication_year":2026,"publication_date":"2026-03-03","ids":{"openalex":"https://openalex.org/W7133312068","doi":"https://doi.org/10.3390/a19030189"},"language":"en","primary_location":{"id":"doi:10.3390/a19030189","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a19030189","pdf_url":"https://www.mdpi.com/1999-4893/19/3/189/pdf","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1999-4893/19/3/189/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100046468","display_name":"Xi Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210164787","display_name":"Puyang Vocational and Technical College","ror":"https://ror.org/05t1wae93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210164787"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi Chen","raw_affiliation_strings":["School of Automotive, Anyang Vocational and Technical College, Anyang 455000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive, Anyang Vocational and Technical College, Anyang 455000, China","institution_ids":["https://openalex.org/I4210164787"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127892008","display_name":"Kanghui Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210164787","display_name":"Puyang Vocational and Technical College","ror":"https://ror.org/05t1wae93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210164787"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kanghui Cheng","raw_affiliation_strings":["School of Automotive, Anyang Vocational and Technical College, Anyang 455000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive, Anyang Vocational and Technical College, Anyang 455000, China","institution_ids":["https://openalex.org/I4210164787"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127917916","display_name":"Te Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Te Chen","raw_affiliation_strings":["Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111478902","display_name":"Guowei Dou","orcid":null},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guowei Dou","raw_affiliation_strings":["Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114139274","display_name":"Xinlong Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210164787","display_name":"Puyang Vocational and Technical College","ror":"https://ror.org/05t1wae93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210164787"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinlong Cheng","raw_affiliation_strings":["School of Automotive, Anyang Vocational and Technical College, Anyang 455000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive, Anyang Vocational and Technical College, Anyang 455000, China","institution_ids":["https://openalex.org/I4210164787"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5127884195","display_name":"Xiaoyu Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]},{"id":"https://openalex.org/I286312201","display_name":"Suzhou Polytechnic Institute of Agriculture","ror":"https://ror.org/03ywvs716","country_code":"CN","type":"education","lineage":["https://openalex.org/I286312201"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyu Wang","raw_affiliation_strings":["Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China","School of Mechanical and Electrical Engineering, Suzhou Polytechnic University, Suzhou 215000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]},{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Suzhou Polytechnic University, Suzhou 215000, China","institution_ids":["https://openalex.org/I286312201"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18557895,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"19","issue":"3","first_page":"189","last_page":"189"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.002899999963119626,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.0006000000284984708,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7369999885559082},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5821999907493591},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.5274999737739563},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5016999840736389},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4754999876022339},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4471000134944916},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.40790000557899475}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7369999885559082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6801000237464905},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5821999907493591},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.5274999737739563},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5016999840736389},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4754999876022339},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4471000134944916},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.40790000557899475},{"id":"https://openalex.org/C2776422217","wikidata":"https://www.wikidata.org/wiki/Q13629441","display_name":"Electric vehicle","level":3,"score":0.4065999984741211},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.33309999108314514},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.32739999890327454},{"id":"https://openalex.org/C201829737","wikidata":"https://www.wikidata.org/wiki/Q2022760","display_name":"Linear matrix inequality","level":2,"score":0.321399986743927},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2743000090122223},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.27379998564720154},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.26460000872612},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.2538999915122986}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/a19030189","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a19030189","pdf_url":"https://www.mdpi.com/1999-4893/19/3/189/pdf","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:2ebf056e1ace478a871bb52976a864e9","is_oa":true,"landing_page_url":"https://doaj.org/article/2ebf056e1ace478a871bb52976a864e9","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Algorithms, Vol 19, Iss 3, p 189 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/a19030189","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a19030189","pdf_url":"https://www.mdpi.com/1999-4893/19/3/189/pdf","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6067880988121033,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G2378968777","display_name":null,"funder_award_id":"52202472","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7133312068.pdf","grobid_xml":"https://content.openalex.org/works/W7133312068.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"estimation":[1,158,162,191],"of":[2,13,111,117,129,164,171,192],"vehicle":[3,68,165],"sideslip":[4,166],"angle":[5,167],"is":[6,62,114],"vital":[7],"for":[8,187],"the":[9,46,52,85,92,104,115,126,130,161,188],"stability":[10,72],"and":[11,33,51,70,82,91,132,144,149,173,177],"safety":[12],"four-wheel":[14],"independent":[15],"drive":[16],"electric":[17,194],"vehicles":[18],"(4WIDEVs),":[19],"but":[20],"it":[21],"faces":[22],"challenges,":[23],"including":[24],"model":[25,69,90],"uncertainties":[26,81],"caused":[27],"by":[28,168],"tire":[29,95,106],"yaw":[30],"stiffness":[31],"variations":[32],"system":[34],"delays.":[35],"This":[36],"paper":[37,113],"proposes":[38],"a":[39,66,88,118,184],"novel":[40],"adaptive":[41,54,100,120],"fusion":[42,127],"strategy":[43],"that":[44,123,153],"combines":[45],"dynamic":[47,178],"robust":[48,175],"observer":[49],"(DRO)":[50],"improved":[53],"square-root":[55],"unscented":[56],"Kalman":[57],"filter":[58],"(ASUKF).":[59],"The":[60,108,147],"DRO":[61,131],"designed":[63],"based":[64],"on":[65],"two-degrees-of-freedom":[67],"ensures":[71],"through":[73],"linear":[74],"matrix":[75],"inequalities":[76],"(LMIs),":[77],"effectively":[78],"handling":[79],"parameter":[80],"time":[83],"delays;":[84],"ASUKF":[86,133],"utilizes":[87],"three-degrees-of-freedom":[89],"magic":[93],"formula":[94],"model,":[96],"combined":[97],"with":[98],"Sage\u2013Husa":[99],"filtering,":[101],"to":[102],"address":[103],"nonlinear":[105,145],"dynamics.":[107],"key":[109],"innovation":[110],"this":[112,154],"introduction":[116],"fuzzy-rule-based":[119],"weighting":[121],"mechanism":[122],"dynamically":[124],"adjusts":[125],"weights":[128],"in":[134,180],"real":[135],"time,":[136],"thereby":[137],"exploiting":[138],"their":[139],"complementary":[140],"advantages":[141],"under":[142],"uncertainty":[143],"conditions.":[146],"simulation":[148],"experimental":[150],"validations":[151],"demonstrate":[152],"method":[155],"significantly":[156],"improves":[157],"accuracy,":[159],"reducing":[160],"error":[163],"an":[169],"average":[170],"9.36%,":[172],"maintains":[174],"performance":[176],"adaptability":[179],"various":[181],"conditions,":[182],"providing":[183],"reliable":[185],"solution":[186],"real-time":[189],"state":[190],"intelligent":[193],"vehicles.":[195]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-03-04T00:00:00"}