A robust road bank angle estimation based on a proportional-integral H∞ filter

被引：26

作者：

Kim, Jihwan ^{[1
]}

Lee, Hyeongcheol ^{[1
]}

Choi, Seibum ^{[2
]}

机构：

[1] Hanyang Univ, Dept Elect & Biomed Engn, Seoul 133791, South Korea

[2] Korea Adv Inst Sci & Technol, Dept Mech Engn, Taejon 305701, South Korea

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING | 2012年 / 226卷 / D6期

关键词：

Road bank angle estimation; proportional-integral H-infinity filter; modified bicycle model; observer-based disturbance estimation; ROLLOVER PREVENTION; STABILITY CONTROL; SYSTEMS;

D O I：

10.1177/0954407011430919

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a new robust road bank angle estimation method that does not require a differential global positioning system or any additional expensive sensors. A modified bicycle model, which is less sensitive to model uncertainties than is the conventional bicycle model, is proposed. The road bank angle estimation algorithm designed using this model can improve robustness against modelling errors and uncertainties. A proportional-integral H-infinity filter based on the game theory approach, which is designed for the worst cases with respect to the sensor noises and disturbances, is used as the estimator in order to improve further the stability and robustness of the bank estimation. The effectiveness and performance of the proposed estimation algorithm are verified by simulations and tests, and the results are compared with those of previous road bank angle estimation methods.

引用

页码：779 / 794

页数：16

共 32 条

[1]

Banavar R. N., 1991, Proceedings of the 1991 American Control Conference (IEEE Cat. No. 91CH2939-7), P2818

[2]

Burl J.B., 1999, LINEAR OPTIMAL CONTR

[3] Implementation and Development of an Adaptive Steering-Control System [J].