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Conference papers
Observer design for two-wheeled vehicle : A Takagi-Sugeno approach with unmeasurable premise variables
Abstract : This paper is dedicated to the problem of observer design for Takagi-Sugeno (T-S) nonlinear systems with unmeasurable premise variables (TSUPV) and application to autonomous bicycle system. The main idea is based on the use of differential mean value theorem combined to the sector nonlinearity transformation. The objective of this approach is to make the state estimation error dynamic on a T-S form which allows to apply the classical Lyapunov analysis to derive convergence conditions. The design algorithm is proposed in terms of linear matrix inequalities (LMI). To illustrate the proposed methodology, a nonlinear bicycle model is considered.
Cited literature [28 references]
https://hal.archives-ouvertes.fr/hal-00593409
Contributor : Hichem Arioui Connect in order to contact the contributor
Submitted on : Sunday, May 15, 2011 - 12:54:11 PM
Last modification on : Thursday, July 1, 2021 - 11:38:04 AM
Long-term archiving on: : Tuesday, August 16, 2011 - 2:26:38 AM
Contributor : Hichem Arioui Connect in order to contact the contributor
Submitted on : Sunday, May 15, 2011 - 12:54:11 PM
Last modification on : Thursday, July 1, 2021 - 11:38:04 AM
Long-term archiving on: : Tuesday, August 16, 2011 - 2:26:38 AM
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ichalal_MED2011.pdf
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