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.
|Publication status||Published - 19 Jan 2017|
|Event||Journal of Physics: Conference Series - |
Duration: 19 Jan 2017 → …
|Conference||Journal of Physics: Conference Series|
|Period||19/1/17 → …|
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© Published under licence by IOP Publishing Ltd.
Copyright 2018 Elsevier B.V., All rights reserved.
All Science Journal Classification (ASJC) codes
- Physics and Astronomy(all)