NDLI: Nonlinear vehicle lateral dynamics estimation with unmeasurable premise variable Takagi-Sugeno approach

Content Provider	IEEE Xplore Digital Library
Author	Yacine, Z. Ichalal, D. Oufroukh, N.A. Mammar, S. Djennoune, S.
Copyright Year	2012
Description	Author affiliation: Tizi-Ouzou Univ., Tizi-Ouzou, Algeria (Yacine, Z.; Djennoune, S.) \|\| IBISC Lab., Evry Val d'Essonne Univ., Evry, France (Ichalal, D.; Oufroukh, N.A.; Mammar, S.)
Abstract	This paper deals with the problem of observer design for vehicle lateral dynamics. The nonlinear model of this last is transformed into Takagi-Sugeno (T-S) formulation by using the sector nonlinearity transformation. The main contribution of this paper is the representation of the vehicle nonlinear model by a T-S model with minimal loss of information (almost exact T-S model). This inevitably leads to a model with unmeasurable premise variables which is more difficult to study compared to the classical T-S models where premise variables are assumed to be measurable even if this is not really true as their are often estimated. The second contribution of this paper is the observer design for estimating the lateral dynamics of the vehicle. Stability conditions are established using a Lyapunov method and the concept of Input-To-State Stability (ISS). These conditions are then expressed in terms of optimization problem subject to LMI constraints. Simulation results are provided to illustrate the proposed approach, where the observer is synthesized with a T-S model and then applied directly to the nonlinear model of the vehicle. Some aspects of the robustness of the observer, with respect to time varying longitudinal velocity and measurement noise, are discussed.
Sponsorship	AP
Starting Page	1117
Ending Page	1122
File Size	399211
Page Count	6
File Format	PDF
ISBN	9781467325301
e-ISBN	9781467325318
e-ISBN	9781467325295
DOI	10.1109/MED.2012.6265788
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-03
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Observers LMIs Lateral vehicle dynamics Lyapunov theory Vehicle dynamics Vehicles Takagi-Sugeno modeling nonlinear systems Input-To-State stability (ISS) Dynamics Tires Mathematical model Nonlinear systems
Content Type	Text
Resource Type	Article

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