Vehicle lateral dynamics estimation using unknown input proportional-integral observers

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

[1]  Andrew Bartlett,et al.  Robust Control: Systems with Uncertain Physical Parameters , 1993 .

[2]  D. Luenberger.  An introduction to observers , 1971 .

[3]  Peter C. Müller,et al.  Observer design for descriptor systems , 1999, IEEE Trans. Autom. Control..

[4]  Said Mammar,et al.  Vehicle Handling Improvement by Active Steering , 2002 .

[5]  Hans B. Pacejka,et al.  A New Tire Model with an Application in Vehicle Dynamics Studies , 1989 .

[6]  L. Dai,et al.  Singular Control Systems , 1989, Lecture Notes in Control and Information Sciences.

[7]  P. Gahinet,et al.  H∞ design with pole placement constraints: an LMI approach , 1996, IEEE Trans. Autom. Control..

[8]  R. Carroll,et al.  Design of Minimal-Order Observer for Singular Systems , 1986, 1986 American Control Conference.

[9]  Saïd Mammar,et al.  Design of proportional-integral observer for unknown input descriptor systems , 2002, IEEE Trans. Autom. Control..

[10]  Pascal Gahinet,et al.  H/sub /spl infin// design with pole placement constraints: an LMI approach , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[11]  R. Carroll,et al.  Design of a minimal-order observer for singular systems , 1987 .

[12]  Damien Koenig,et al.  Unknown input proportional multiple-integral observer design for linear descriptor systems: application to state and fault estimation , 2005, IEEE Transactions on Automatic Control.

[13]  Jürgen Ackermann,et al.  Advantages Of Active Steering For Vehicle Dynamics Control , 1999 .

[14]  Uwe Kiencke,et al.  Observation of Lateral Vehicle Dynamics , 1996 .

[15]  D. Ho,et al.  Proportional multiple-integral observer design for descriptor systems with measurement output disturbances , 2004 .