Unknown-input observer design for motorcycle lateral dynamics: TS approach

被引：22

作者：

Dabladji, Mohammed El-Habib ^{[1
]}

Ichalal, Dalil ^{[1
]}

Arioui, Hichem ^{[1
]}

Mammar, Said ^{[1
]}

机构：

[1] Evry Val Essonne Univ, Informat Biol Integrat & Syst Complexes Lab, F-91020 Evry, France

来源：

CONTROL ENGINEERING PRACTICE | 2016年 / 54卷

关键词：

Unknown input observer; Two-wheeled vehicles; ISS; LMI; SYSTEMS; ANGLE;

D O I：

10.1016/j.conengprac.2016.05.005

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a nonlinear observer is designed in order to estimate the lateral dynamics of motorcycles. A nonlinear model of motorcycle's lateral dynamics is considered and is transformed in a Takagi-Sugeno (TS) exact form. An unknown input (UI) nonlinear observer is then designed in order to reconstruct the state variables whatever the forward velocity variations. The observer convergence study is based on the Lyapunov theory. The boundedness of the state estimation error is guaranteed thanks to the Input to State Stability (ISS) property. The observer has been tested on a nonlinear multibody model. (C) 2016 Elsevier Ltd. All rights reserved.

引用

页码：12 / 26

页数：15

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