Observer design for a single track vehicle: A Takagi-Sugeno approach with unmeasurable premise variables

Dalil Ichalal (1) , Hichem Arioui (1) , Saïd Mammar (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

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.

Domains: Automatic

Dalil Ichalal, Hichem Arioui, Saïd Mammar. Observer design for a single track vehicle: A Takagi-Sugeno approach with unmeasurable premise variables. 19th Mediterranean Conference on Control & Automation (MED 2011), Jun 2011, Corfu, Greece. pp.934--939, ⟨10.1109/MED.2011.5983232⟩. ⟨hal-00653814⟩