Title :
New nonlinear Takagi-Sugeno vehicle model for state and road curvature estimation via nonlinear PMI observer
Author :
Yacine, Zedjiga ; Ichalal, Dalil ; Oufroukh, N.A. ; Mammar, Said ; Djennoune, Said
Author_Institution :
Tizi Ouzou Univ., Tizi Ouzou, Algeria
Abstract :
The present paper deals with an observer design for a nonlinear lateral vehicle model. The nonlinear model is represented by an exact Takagi-Sugeno (TS) model via the sector nonlinearity transformation. A proportional multiple integral observer (PMIO) based on the TS model is designed to estimate simultaneously the state vector and the unknown input (road curvature). The convergence conditions of the estimation error are expressed under LMI formulation using the Lyapunov theory which guaranties bounded error. Simulations are carried out and experimental results are provided to illustrate the proposed observer.
Keywords :
Lyapunov matrix equations; linear matrix inequalities; nonlinear systems; observers; road vehicles; roads; transportation; vectors; LMI formulation; Lyapunov theory; PMIO; TS model; bounded error; estimation error convergence conditions; nonlinear PMI observer; nonlinear Takagi-Sugeno vehicle model; nonlinear lateral vehicle model; observer design; proportional multiple integral observer; road curvature estimation; sector nonlinearity transformation; state curvature estimation; state vector estimation; Approximation methods; Bismuth; Context; Iron; Positron emission tomography; Tin; Vehicles;
Conference_Titel :
Networking, Sensing and Control (ICNSC), 2013 10th IEEE International Conference on
Conference_Location :
Evry
Print_ISBN :
978-1-4673-5198-0
Electronic_ISBN :
978-1-4673-5199-7
DOI :
10.1109/ICNSC.2013.6548848
