# Orthogonal Residual Learning for Adaptive Sideslip Angle and Cornering Stiffness Estimation

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/wh2pkeuhplr25k9pa40k7qw7p
- Original: https://arxiv.org/abs/2610.27586

## Summary

An orthogonal residual learning method constrains a model corrector via null-space parameterization to be orthogonal to cornering stiffness sensitivity, preventing the corrector from absorbing stiffness-change information and suppressing online adaptation. In full-vehicle simulation, the method reduces sideslip angle error by 12.7% to 22.0% and maintains the same adaptation speed as an uncorrected filter under step changes in stiffness. On public real-vehicle data, a 430-parameter orthogonal corrector retained more response to nominal stiffness offsets than an unconstrained corrector of the same size.