Academic Journal
Takagi–Sugeno Fuzzy Unknown Input Observers to Estimate Nonlinear Dynamics of Autonomous Ground Vehicles: Theory and Real-Time Verification
| العنوان: | Takagi–Sugeno Fuzzy Unknown Input Observers to Estimate Nonlinear Dynamics of Autonomous Ground Vehicles: Theory and Real-Time Verification |
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| المؤلفون: | Nguyen, Tran Anh-Tu, Dinh, Truong, Quang, Guerra, Thierry-Marie, Pan, Juntao |
| المساهمون: | Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Centre National de la Recherche Scientifique (CNRS)-Université Polytechnique Hauts-de-France (UPHF)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA), INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), Institut National des Sciences Appliquées (INSA), Université Polytechnique Hauts-de-France (UPHF), College of Information and Communication Technology (CICT), Can Tho University Vietnam (CTU), North Minzu University |
| المصدر: | ISSN: 1083-4435 ; IEEE/ASME Transactions on Mechatronics ; https://uphf.hal.science/hal-04307204 ; IEEE/ASME Transactions on Mechatronics, 2021, 26 (3), pp.1328 - 1338. ⟨10.1109/tmech.2020.3049070⟩ ; https://ieeexplore.ieee.org/document/9314225. |
| بيانات النشر: | HAL CCSD Institute of Electrical and Electronics Engineers |
| سنة النشر: | 2021 |
| المجموعة: | Université Polytechnique Hauts-de-France: HAL |
| مصطلحات موضوعية: | Nonlinear observers, steering angle estimation, Takagi–Sugeno (TS) fuzzy systems, torque estimation, vehicle dynamics, vehicle state estimation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering |
| الوصف: | International audience ; In this article, we address the simultaneous estimation problem of the lateral speed, the steering input, and the effective engine torque, which play a fundamental role in vehicle handling, stability control, and fault diagnosis of autonomous ground vehicles. Due to the involved longitudinal-lateral coupling dynamics and the presence of unknown inputs (UIs), a new nonlinear observer design technique is proposed to guarantee the asymptotic estimation performance. To this end, we make use of a specific Takagi-Sugeno (TS) fuzzy representation with nonlinear consequents to exactly model the nonlinear vehicle dynamics within a compact set of the vehicle state. This TS fuzzy modeling not only allows reducing significantly the real-time computational effort in estimating the vehicle variables but also enables an effective way to deal with unmeasured nonlinearities. Moreover, via a generalized Luenberger observer structure, the UI decoupling can be achieved without requiring a priori UI information. Using Lyapunov stability arguments, the UI observer design is reformulated as an optimization problem under linear matrix inequalities, which can be effectively solved with standard numerical solvers. The effectiveness of the proposed TS fuzzy UI observer design is demonstrated with real-time hardware-in-the-loop experiments. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | English |
| Relation: | hal-04307204; https://uphf.hal.science/hal-04307204; https://uphf.hal.science/hal-04307204v2/document; https://uphf.hal.science/hal-04307204v2/file/Fuzzy_UIO_Vehicle_Final.pdf |
| DOI: | 10.1109/tmech.2020.3049070 |
| الاتاحة: | https://uphf.hal.science/hal-04307204 https://uphf.hal.science/hal-04307204v2/document https://uphf.hal.science/hal-04307204v2/file/Fuzzy_UIO_Vehicle_Final.pdf https://doi.org/10.1109/tmech.2020.3049070 |
| Rights: | info:eu-repo/semantics/OpenAccess |
| رقم الانضمام: | edsbas.6D627E3F |
| قاعدة البيانات: | BASE |
| DOI: | 10.1109/tmech.2020.3049070 |
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