{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T06:30:25Z","timestamp":1772778625805,"version":"3.50.1"},"reference-count":42,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2026,3,3]],"date-time":"2026-03-03T00:00:00Z","timestamp":1772496000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Algorithms"],"abstract":"<jats:p>Accurate estimation of vehicle sideslip angle is vital for the stability and safety of four-wheel independent drive electric vehicles (4WIDEVs), but it faces challenges, including model uncertainties caused by tire yaw stiffness variations and system delays. This paper proposes a novel adaptive fusion strategy that combines the dynamic robust observer (DRO) and the improved adaptive square-root unscented Kalman filter (ASUKF). The DRO is designed based on a two-degrees-of-freedom vehicle model and ensures stability through linear matrix inequalities (LMIs), effectively handling parameter uncertainties and time delays; the ASUKF utilizes a three-degrees-of-freedom model and the magic formula tire model, combined with Sage\u2013Husa adaptive filtering, to address the nonlinear tire dynamics. The key innovation of this paper is the introduction of a fuzzy-rule-based adaptive weighting mechanism that dynamically adjusts the fusion weights of the DRO and ASUKF in real time, thereby exploiting their complementary advantages under uncertainty and nonlinear conditions. The simulation and experimental validations demonstrate that this method significantly improves estimation accuracy, reducing the estimation error of vehicle sideslip angle by an average of 9.36%, and maintains robust performance and dynamic adaptability in various conditions, providing a reliable solution for the real-time state estimation of intelligent electric vehicles.<\/jats:p>","DOI":"10.3390\/a19030189","type":"journal-article","created":{"date-parts":[[2026,3,3]],"date-time":"2026-03-03T16:18:45Z","timestamp":1772554725000},"page":"189","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Sideslip Angle Estimation for Electric Vehicles Based on Adaptive Weight Fusion: Collaborative Optimization of Robust Observer and Kalman Filter"],"prefix":"10.3390","volume":"19","author":[{"given":"Xi","family":"Chen","sequence":"first","affiliation":[{"name":"School of Automotive, Anyang Vocational and Technical College, Anyang 455000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kanghui","family":"Cheng","sequence":"additional","affiliation":[{"name":"School of Automotive, Anyang Vocational and Technical College, Anyang 455000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Te","family":"Chen","sequence":"additional","affiliation":[{"name":"Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guowei","family":"Dou","sequence":"additional","affiliation":[{"name":"Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xinlong","family":"Cheng","sequence":"additional","affiliation":[{"name":"School of Automotive, Anyang Vocational and Technical College, Anyang 455000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoyu","family":"Wang","sequence":"additional","affiliation":[{"name":"Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China"},{"name":"School of Mechanical and Electrical Engineering, Suzhou Polytechnic University, Suzhou 215000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2026,3,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"120","DOI":"10.1016\/j.isatra.2023.02.023","article-title":"Adaptive event-triggered control for almost sure stability for vehicle platooning under interference and stochastic attacks","volume":"138","author":"Li","year":"2023","journal-title":"ISA Trans."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Viadero-Monasterio, F., Mel\u00e9ndez-Useros, M., Jim\u00e9nez-Salas, M., and L\u00f3pez Boada, M.J. 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