Interval observer for LPV systems: Application to vehicle lateral dynamics

Sara Ifqir (1) , Naima Ait Oufroukh (1) , Dalil Ichalal (1) , Saïd Mammar (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

This paper presents a new method for guaranteed and robust estimation of sideslip angle and lateral tire forces with consideration of cornering stiffness variations resulting from changes in tire/road and driving conditions. An interval LPV observer with both measurable and unmeasurable time-varying parameters is proposed. The longitudinal velocity is treated as the online measured time-varying parameter and the cornering stiffness at front and rear tires are assumed to be unknown but bounded with a priori known bounds. The obtained results are no more punctual values but a set of acceptable values. The simulation is based on experimental data in order to prove the effectiveness of the proposed observers.

Keywords: Vehicle lateral dynamics; Interval observer; Positive systems; Robustness; State estimation; Uncertain systems; Interval observer; uncertain systems; robustness; positive systems; eigenvalue assignment; state estimation; vehicle lateral dynamics

Domains: Automatic

Sara Ifqir, Naima Ait Oufroukh, Dalil Ichalal, Saïd Mammar. Interval observer for LPV systems: Application to vehicle lateral dynamics. 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. pp.7572--7577, ⟨10.1016/j.ifacol.2017.08.995⟩. ⟨hal-01629342⟩