文章基本信息

标题：Simultaneous Estimation of Vehicle Lateral Dynamics and Driver Torque using LPV Unknown Input Observer
本地全文：下载
作者：Anh-Tu Nguyen ; Thierry-Marie Guerra ; Chouki Sentouh 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：26
页码：13-18
DOI：10.1016/j.ifacol.2018.11.175
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a new method to estimate simultaneously both the vehicle state and the driver torque. To take into account the time-varying nature of the longitudinal speed, the vehicle system is transformed into a polytopic LPV model with a reasonable level of numerical complexity. The design of the LPV unknown input observer is reformulated as an LMI-based optimization which can be effectively solved via semi-definite programming. Based on Lyapunov arguments, the closed-loop of the state error dynamics is proved to be input-to-state stable while achieving a guaranteed L∞-gain performance. Numerical experiments obtained with a nonlinear vehicle system are provided to demonstrate the effectiveness of the proposed observer design.
关键词：KeywordsVehicle dynamicsdriver torque estimationLPV systemsunknown input observerL∞-gain performancelinear matrix inequality (LMI)