Vehicle lateral dynamics estimation using unknown input proportional-integral observers

Author

Mammar, Saïd ; Glaser, Sébastien ; Netto, Mariana

Author_Institution

Univ. d´´Evry val d´´Essonne, Evry

fYear

2006

fDate

14-16 June 2006

Abstract

This paper proposes a robust state and fault estimation of vehicle lateral dynamics by means of proportional integral observers. The observer is able to estimate the state and any constant or varying fault signals even in presence of road bank, sensor noise or offset. A framework for common road adhesion factor estimation and road bank angle estimation is also proposed. Field test results obtained with a prototype vehicle show the effectiveness of the approach for performing in real conditions

Keywords

PI control; control system synthesis; nonlinear control systems; observers; road vehicles; robust control; vehicle dynamics; fault estimation; fault signals; input proportional mutiple-integral observer; proportional-integral observers; road adhesion factor estimation; road bank angle estimation; road vehicle; robust state estimation; sensor noise; vehicle lateral dynamics estimation; Adhesives; Noise robustness; Observers; Performance evaluation; Prototypes; Roads; Sensor phenomena and characterization; State estimation; Testing; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2006

Conference_Location

Minneapolis, MN

Print_ISBN

1-4244-0209-3

Electronic_ISBN

1-4244-0209-3

Type

conf

DOI

10.1109/ACC.2006.1657456

Filename

1657456