Comparison of observers for vehicle yaw rate estimation

被引：0
|
作者：
Monot, Nolwenn [1 ,2 ]
Moreau, Xavier [1 ]
Benine-Neto, Andre [1 ]
Rizzo, Audrey [2 ]
Aioun, Francois [2 ]
机构：
[1] Univ Bordeaux, IMS Lab, Bordeaux INP, CNRS,UMR 5218, F-33405 Talence, France
[2] Grp PSA, F-78943 Velizy Villacoublay, France
来源：
2018 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) | 2018年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a comparison of observers for vehicle lateral dynamics. Three model-based observers are compared: firstly Luenberger observer with a linear stationary model, secondly Kalman filter with a non stationary model and lastly Luenberger observers for each subsystems of a Takagi-Sugeno multi-model. Moreover, an analysis of the lateral dynamics shows that the model discretisation may be problematic according to the signal sampling theorem and a solution is proposed, such that all the observers can be used on board of the vehicle.
引用
收藏
页码：1925 / 1930
页数：6
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