文章基本信息

标题：A Globally Exponentially Convergent I&I Observer for Vehicles with Roll Dynamics * * This work was supported by CONACYT, Mexico, under grant 252405.
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作者：Jose Guadalupe Romero ; Juan J. Ley-Rosas ; Rafael Cisneros 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：3394-3399
DOI：10.1016/j.ifacol.2017.08.591
语种：English
出版社：Elsevier
摘要：AbstractIn this paper an observer for a vehicle system considering roll dynamics is presented. The observer design is based on the well-known Immerse and Invariance (I&I) technique to estimate the lateral velocity, roll angle and roll velocity of the vehicle from the measurements of the longitudinal/lateral accelerations, longitudinal velocity, yaw rate and steer angle. Furthermore, under practical considerations, global exponential convergence can be assured. To assess the performance of the observer, an observer-based control using the super-twisting algorithm has been derived and validated through numerical simulations.
关键词：KeywordsI&I ObserverGround vehiclesSuper-Twisting Algorithm