Skip to Main content Skip to Navigation
Conference papers

Simultaneous Estimation of Vehicle Lateral Dynamics and Driver Torque using LPV Unknown Input Observer

Abstract : This 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.
Document type :
Conference papers
Complete list of metadata

https://hal-uphf.archives-ouvertes.fr/hal-03411336
Contributor : Kathleen Torck Connect in order to contact the contributor
Submitted on : Tuesday, November 2, 2021 - 10:54:09 AM
Last modification on : Wednesday, November 3, 2021 - 3:52:59 AM

Links full text

Identifiers

Collections

Citation

Tran Anh-Tu Nguyen, Thierry-Marie Guerra, Chouki Sentouh. Simultaneous Estimation of Vehicle Lateral Dynamics and Driver Torque using LPV Unknown Input Observer. 2nd IFAC Workshop on Linear Parameter Varying Systems LPVS 2018, Sep 2018, Florianópolis, Brazil. pp.13-18, ⟨10.1016/j.ifacol.2018.11.175⟩. ⟨hal-03411336⟩

Share

Metrics

Record views

5