Functional Switched H∞ Proportional Integral Observer Applied for Road Bank and Vehicle Roll Angles Estimation - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2013

Functional Switched H∞ Proportional Integral Observer Applied for Road Bank and Vehicle Roll Angles Estimation

Lghani Menhour
  • Fonction : Auteur
  • PersonId : 941257
Damien Koenig
Brigitte d'Andréa-Novel

Résumé

The estimation problem of the road bank angle and the roll vehicle angle is presented in this work. These angles play an important role for the vehicle stability and the Vehicle Dynamic Control (VDC). However, the estimation of these angles requires a global vehicle model; unfortunately, the requirements related to the knowledge of the vehicle model are difficult to satisfy, this is due to the uncertainties which affect the parameters of the vehicle model, for example, the longitudinal speed that changes the values of the vehicle model parameters, the front and rear cornering stiffnesses. In order to overcome all these constraints on the knowledge of the vehicle model, a switched proportional integral $H_{\infty}$ observer is proposed. This observer is designed using non-increasing condition applied on the Lyapunov functions. Sufficient conditions of global convergence of this observer are presented and proved. All these conditions are expressed in term of the linear matrix inequality (LMI). An experimental validation shows the ability of the SPI$H_{\infty}$ observer to estimate simultaneously the banking angle and vehicle dynamics parameters.
Fichier non déposé

Dates et versions

hal-00822258 , version 1 (14-05-2013)

Identifiants

  • HAL Id : hal-00822258 , version 1

Citer

Lghani Menhour, Damien Koenig, Brigitte d'Andréa-Novel. Functional Switched H∞ Proportional Integral Observer Applied for Road Bank and Vehicle Roll Angles Estimation. ICNSC 2013 - IEEE International Conference on Networking Sensing and Control, Apr 2013, Evry, France. pp.01-06. ⟨hal-00822258⟩
269 Consultations
0 Téléchargements

Partager

Gmail Facebook X LinkedIn More