Abstract
This paper addresses a method for detecting critical stability situations in the lateral vehicle dynamics by estimating the non-linear part of the tire forces. These forces indicate the road holding performance of the vehicle. The estimation method is based on a robust fault detection and estimation approach which minimize the disturbance and uncertainties to residual sensitivity. It consists in the design of a Proportional Integral Observer (PIO), while minimizing the well known H ∞ norm for the worst case uncertainties and disturbance attenuation, and combining a transient response specification. This multi-objective problem is formulated as a Linear Matrix Inequalities (LMI) feasibility problem where a cost function subject to LMI constraints is minimized. This approach is employed to generate a set of switched robust observers for uncertain switched systems, where the convergence of the observer is ensured using a Multiple Lyapunov Function (MLF). Whilst the forces to be estimated can not be physically measured, a simulation scenario with CarSim TM is presented to illustrate the developed method.
Original language | English |
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DOIs | |
Publication status | Published - 19 Jan 2017 |
Externally published | Yes |
Event | Journal of Physics: Conference Series - Duration: 19 Jan 2017 → … |
Conference
Conference | Journal of Physics: Conference Series |
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Period | 19/1/17 → … |
Bibliographical note
Publisher Copyright:© Published under licence by IOP Publishing Ltd.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
All Science Journal Classification (ASJC) codes
- Physics and Astronomy(all)