Tire Force Estimation using a Proportional Integral Observer

Ahmad Farhat, Damien Koenig, Diana Hernandez-Alcantara, Ruben Morales-Menendez

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

© Published under licence by IOP Publishing Ltd. 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 CarSimTMis presented to illustrate the developed method.
Original languageEnglish
DOIs
Publication statusPublished - 19 Jan 2017
Externally publishedYes
EventJournal of Physics: Conference Series -
Duration: 19 Jan 2017 → …

Conference

ConferenceJournal of Physics: Conference Series
Period19/1/17 → …

Fingerprint

tires
vehicles
disturbances
Liapunov functions
fault detection
transient response
roads
specifications
estimating
attenuation
costs
sensitivity
simulation

All Science Journal Classification (ASJC) codes

  • Physics and Astronomy(all)

Cite this

Farhat, A., Koenig, D., Hernandez-Alcantara, D., & Morales-Menendez, R. (2017). Tire Force Estimation using a Proportional Integral Observer. Paper presented at Journal of Physics: Conference Series, . https://doi.org/10.1088/1742-6596/783/1/012014
Farhat, Ahmad ; Koenig, Damien ; Hernandez-Alcantara, Diana ; Morales-Menendez, Ruben. / Tire Force Estimation using a Proportional Integral Observer. Paper presented at Journal of Physics: Conference Series, .
@conference{6c3ec229248745eebba38b99b58db704,
title = "Tire Force Estimation using a Proportional Integral Observer",
abstract = "{\circledC} Published under licence by IOP Publishing Ltd. 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 CarSimTMis presented to illustrate the developed method.",
author = "Ahmad Farhat and Damien Koenig and Diana Hernandez-Alcantara and Ruben Morales-Menendez",
year = "2017",
month = "1",
day = "19",
doi = "10.1088/1742-6596/783/1/012014",
language = "English",
note = "Journal of Physics: Conference Series ; Conference date: 19-01-2017",

}

Farhat, A, Koenig, D, Hernandez-Alcantara, D & Morales-Menendez, R 2017, 'Tire Force Estimation using a Proportional Integral Observer' Paper presented at Journal of Physics: Conference Series, 19/1/17, . https://doi.org/10.1088/1742-6596/783/1/012014

Tire Force Estimation using a Proportional Integral Observer. / Farhat, Ahmad; Koenig, Damien; Hernandez-Alcantara, Diana; Morales-Menendez, Ruben.

2017. Paper presented at Journal of Physics: Conference Series, .

Research output: Contribution to conferencePaper

TY - CONF

T1 - Tire Force Estimation using a Proportional Integral Observer

AU - Farhat, Ahmad

AU - Koenig, Damien

AU - Hernandez-Alcantara, Diana

AU - Morales-Menendez, Ruben

PY - 2017/1/19

Y1 - 2017/1/19

N2 - © Published under licence by IOP Publishing Ltd. 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 CarSimTMis presented to illustrate the developed method.

AB - © Published under licence by IOP Publishing Ltd. 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 CarSimTMis presented to illustrate the developed method.

U2 - 10.1088/1742-6596/783/1/012014

DO - 10.1088/1742-6596/783/1/012014

M3 - Paper

ER -

Farhat A, Koenig D, Hernandez-Alcantara D, Morales-Menendez R. Tire Force Estimation using a Proportional Integral Observer. 2017. Paper presented at Journal of Physics: Conference Series, . https://doi.org/10.1088/1742-6596/783/1/012014