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

Interval observer for LPV systems: Application to vehicle lateral dynamics

This paper presents a new method for guaranteed and robust estimation of sideslip angle and lateral tire forces with consideration of cornering stiffness variations resulting from changes in tire/road and driving conditions. An interval LPV observer with both measurable and unmeasurable time-varying parameters is proposed. The longitudinal velocity is treated as the online measured time-varying...

Design of unknown input fuzzy observer for vehicle dynamics estimation with road geometry consideration

A methodology for estimating vehicle dynamics whith road geometry consideration is presented in this paper. Vehicle sideslip and roll parameters are estimated in the presence of the road bank angle and the road curvature as unknown inputs. The unknown inputs are then estimated using the observer results. This information about the road geometry and vehicle parameters is needed in the driver ass...

Sensor fault and unknown input estimation based on proportional integral observer applied to LPV descriptor systems

Set-membership LPV model identification of vehicle lateral dynamics

Set-membership identification of a Linear Parameter Varying (LPV) model describing the vehicle lateral dynamics is addressed in the paper. The model structure, chosen as much as possible on the ground of physical insights into the vehicle lateral behavior, consists of two single-input single-output LPV models relating the steering angle to the yaw rate and to the sideslip angle. A set of experi...

Generalized set-theoretic unknown input observer for LPV systems with application to state estimation and robust fault detection

1Center of Intelligent Control and Telescience, Graduate School at Shenzhen, Tsinghua University, Shenzhen, China 2Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Technical University of Catalonia (UPC), Barcelona, Spain 3Tsinghua National Laboratory for Information Science and Technology, Tsinghua University, Beijing, China 4Intelligent Computing Lab, Graduate School at Shenzhen, Tsi...