NDLI: Vehicle dynamics and road geometry estimation using a Takagi-Sugeno fuzzy observer with unknown inputs

Content Provider	IEEE Xplore Digital Library
Author	Dahmani, H. Chadli, M. Rabhi, A. El Hajjaji, A.
Copyright Year	2011
Description	Author affiliation: “Laboratoire Modélisation, Information et Systèmes”, UPJV-MIS (EA4290), 7, Rue Moulin Neuf, 80000 Amiens, France (Dahmani, H.; Chadli, M.; Rabhi, A.; El Hajjaji, A.)
Abstract	This paper describes a methodology for estimating both vehicle dynamics and road geometry using a Fuzzy unknown input observer. Vehicle sideslip and roll parameters are estimated in presence of the road bank angle and the road curvature as unknown inputs. The unknown inputs are then estimated using the observer results. The used nonlinear model deduced from the vehicle lateral and roll dynamics with a vision system is represented by a Takagi-Sugeno (TS) fuzzy model in order to take into account the nonlinearities of the cornering forces. Taking into account the unmeasured variables, an unknown inputs (TS) observer is then designed on the basis of the measure of the roll rate, the steering angle and the lateral offset given by the distance between the road centerline and the vehicle axe at a look-ahead distance. Synthesis conditions of the proposed fuzzy observer are formulated in terms of Linear Matrix Inequalities (LMI) using Lyapunov method. Simulation results show good efficiency of the proposed method to estimate both vehicle dynamics and road geometry.
Starting Page	272
Ending Page	277
File Size	379721
Page Count	6
File Format	PDF
ISBN	9781457708909
ISSN	19310587
e-ISBN	9781457708916
DOI	10.1109/IVS.2011.5940491
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-05
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Roads Vehicles Observers Vehicle dynamics Mathematical model Geometry Tires
Content Type	Text
Resource Type	Article

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