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Design of unknown input fuzzy observer for vehicle dynamics estimation with road geometry consideration

Hamid Dahmani, Mohammed Chadli, Abdelhamid Rabhi, Achmed El Hajjaji
2011 Proceedings of the 7th conference of the European Society for Fuzzy Logic and Technology (EUSFLAT-2011)  
A methodology for estimating vehicle dynamics whith road geometry consideration is presented in this paper.  ...  Vehicle sideslip and roll parameters are estimated in the presence of the road bank angle and the road curvature as unknown inputs. The unknown inputs are then estimated using the observer results.  ...  Figure 4 : Vehicle dynamics and road geometry estimation TS Fuzzy observer design conditions The TS model based estimator in presence of the road curvature as an unknown input is represented as follows  ... 
doi:10.2991/eusflat.2011.116 dblp:conf/eusflat/DahmaniCRH11 fatcat:rnsdnhdrqndxnaa6i6eget5cf4

Fuzzy uncertain observer with unknown inputs for Lane departure detection

H Dahmani, M Chadli, A Rabhi, A E Hajjaji
2010 Proceedings of the 2010 American Control Conference  
The used nonlinear model deduced from the vehicle lateral dynamics and a vision system is represented by a T-S fuzzy uncertain model with unknown inputs.  ...  The road curvature is estimated and compared to the vehicle trajectory curvature.  ...  Estimating vehicle dynamics and road attributes are of primary importance for the implementation of warning and active safety systems.  ... 
doi:10.1109/acc.2010.5530890 fatcat:eenawornyfgjflligqsb7xi75i

Driver attention warning system based on a fuzzy representation of the vehicle model

H. Dahmani, M. Chadli, A. Rabhi, A.El Hajjaji
2011 IFAC Proceedings Volumes  
The road curvature is estimated and compared to the vehicle trajectory curvature.  ...  Stability conditions of the fuzzy observer are expressed in terms of linear matrix inequalities (LMI)using unmeasurable premise variables.  ...  T-S Fuzzy observer design conditions The TS model based estimator in presence of the road curvature as an unknown input is represented as follows: x(t) = 2 i=1 µ i (|α f |) (A ix (t) + B i δ f (t) + L  ... 
doi:10.3182/20110828-6-it-1002.00181 fatcat:4fnp33omwjfgthtq2vmsctvuym

Control Strategies on Path Tracking for Autonomous Vehicle: state of the art and future challenges

Qiangqiang Yao, Ying Tian, Quan Wang, Shengyuan Wang
2020 IEEE Access  
Changfang Chen et al. estimated the coefficient of lateral and longitudinal friction of tires based on the tire slip characteristics to deal with the problem of unknown and uneven road conditions, and  ...  Hyo-Seok Kang et al. established a fuzzy model including parameter uncertainty, time-varying parameters, input disturbance and slip and designed fuzzy disturbance observer [134] .  ... 
doi:10.1109/access.2020.3020075 fatcat:tk4yn57y2fag3pzgvnvmgkksoi

Review on Braking Energy Management in Electric Vehicles

Valery Vodovozov, Zoja Raud, Eduard Petlenkov
2021 Energies  
The adoption of electric vehicles promises numerous benefits for modern society.  ...  This review concerns the systematization of knowledge in one of the areas of the electric vehicle control, namely, the energy management issues when using braking controllers.  ...  Conflicts of Interest: The authors declare no conflict of interest. Energies 2021, 14, 4477  ... 
doi:10.3390/en14154477 fatcat:5l67bt5dijf3rjkpnbwf3ibwwu

Neural Network Based Robust Lateral Control for an Autonomous Vehicle

Subrat Kumar Swain, Jagat J. Rath, Kalyana C. Veluvolu
2021 Electronics  
To address the issue of chattering and reduce the effect of unknown external disturbances in the absence of precise model information, a radial basis function neural network (RBFNN) is employed to estimate  ...  The lateral motion of an Automated Vehicle (AV) is highly affected by the model's uncertainties and unknown external disturbances during its navigation in adverse environmental conditions.  ...  The type of autonomous vehicles taken into consideration in this paper are the car-like vehicles with an Ackermann geometry model.  ... 
doi:10.3390/electronics10040510 fatcat:axnf2fwujfbf3lc34krnqo23q4

Considering Variable Road Geometry in Adaptive Vehicle Speed Control

Xinping Yan, Rui Zhang, Jie Ma, Yulin Ma
2013 Mathematical Problems in Engineering  
Finally, simulations are carried out by combining the vehicle model with the road geometry model, in an aim of minimizing the performance index of the AVSC.  ...  In this paper, first, an exploration of intrinsic relationship between vehicle operation and road geometry is made.  ...  Acknowledgments This study is supported by the National High-Tech R&D Program of China (863 Program) (no. 2011AA110402) and the National Natural Science Foundations of China (nos. 61203236 and 61174173  ... 
doi:10.1155/2013/617879 fatcat:dipps2v23bazdjbjekshwg5oeq

Review and performance evaluation of path tracking controllers of autonomous vehicles

Mohammad Rokonuzzaman, Navid Mohajer, Saeid Nahavandi, Shady Mohamed
2021 IET Intelligent Transport Systems  
This study provides a critical review and simulation study of several selected techniques used for the design of PTC of AVs.  ...  Autonomous Vehicles (AVs) have shown indelible and revolutionary effects on accident reduction and more efficient use of travel time, with outstanding socio-economic impact.  ...  ASMC can be also implemented using an extended state observer for estimating the unknown parameters and external disturbances online [115, 122] .  ... 
doi:10.1049/itr2.12051 fatcat:no7xfbgq5fayli5ezllhbjaw6q

State of the Art in Vehicle Active Suspension Adaptive Control Systems Based on Intelligent Methodologies

Jiangtao Cao, Honghai Liu, Ping Li, D.J. Brown
2008 IEEE transactions on intelligent transportation systems (Print)  
After a brief introduction on active suspension models, the paper explores the state of the art in fuzzy inference systems, neural networks, genetic algorithms, and their combination for suspension control  ...  This paper reviews computational-intelligenceinvolved approaches in active vehicle suspension control systems with a focus on the problems raised in practical implementations by their nonlinear and uncertain  ...  Estimating uncertain effects is even more challenging due to the random noise occurred by road inputs.  ... 
doi:10.1109/tits.2008.928244 fatcat:dev6wxlc4fbjfhn6htzxeuef4a

Fault Detection for Automotive Shock Absorber

Diana Hernandez-Alcantara, Ruben Morales-Menendez, Luis Amezquita-Brooks
2015 Journal of Physics, Conference Series  
Fault detection for automotive semi-active shock absorbers is a challenge due to the non-linear dynamics and the strong influence of the disturbances such as the road profile.  ...  The primary functions of an automotive suspension system are to [9]: (1) isolate the chassis motion from road irregularities, (2) keep the tire-road contact with minimal load variations, (3) resist roll  ...  the road profile is unknown  ... 
doi:10.1088/1742-6596/659/1/012037 fatcat:ta7yvp5sxvefvgg72jtmvj6awu

Polytopic LPV approaches for intelligent automotive systems: State of the art and future challenges

Panshuo Li, Anh-Tu Nguyen, Haiping Du, Yan Wang, Hui Zhang
2021 Mechanical systems and signal processing  
This survey starts with a review on control theory of polytopic LPV systems. Stability analysis and controller design are provided with techniques in obtaining less conservative results.  ...  Then, some key applications in vehicle dynamics control are provided. Several LPV models concerning the vertical dynamics, lateral dynamics and integrated dynamics are introduced.  ...  The vehicle state and the driver torque are simultaneously estimated in [35] using an LPV observer with an unknown input.  ... 
doi:10.1016/j.ymssp.2021.107931 fatcat:s46e4xp4obeflob5csshwer4pu

Gain-scheduling LPV control for autonomous vehicles including friction force estimation and compensation mechanism

Eugenio Alcala, Vicenç Puig, Joseba Quevedo, Teresa Escobet
2018 IET Control Theory & Applications  
It is based on a gain-scheduling linear parameter-varying (LPV) control approach combined with the use of an Unknown Input Observer (UIO) for estimating the vehicle states and friction force.  ...  Two gain-scheduling LPV controllers are used in cascade configuration that use the kinematic and dynamic vehicle models and the friction and observed states provided by the Unknown Input Observer (UIO)  ...  Dynamic LPV-UIO design The dynamic LPV-UIO tackles the problem of estimating the dynamic state vector in (19) as well as estimating the friction force acting over the vehicle.  ... 
doi:10.1049/iet-cta.2017.1154 fatcat:sxv4cmvsbzejvmk7pzoonq6pau

Context-Aware Sensor Uncertainty Estimation for Autonomous Vehicles

Mohammed Alharbi, Hassan A. Karimi
2021 Vehicles  
Sensor uncertainty significantly affects the performance of autonomous vehicles (AVs).  ...  The design of our approach incorporates both epistemic uncertainties, which are related to the lack of knowledge, and aleatoric uncertainties, which are related to the stochastic nature of the data acquisition  ...  Conflicts of Interest: The authors declare no conflict of interest. Vehicles 2021, 3  ... 
doi:10.3390/vehicles3040042 fatcat:ubf22qaybncgffedwnpto2x5ym

[IEEE Robotics & Automation Society]

2012 IEEE robotics & automation magazine  
In this paper, a systematic approach to state of charge estimator design using the fuzzy observer architecture is presented.  ...  all the vehicles with safe paths, based on graph theoretic considerations.  ... 
doi:10.1109/mra.2012.2229854 fatcat:rjrxtwk4jbcgjpvjdad6mougsq

IEEE Robotics & Automation Society

2012 IEEE robotics & automation magazine  
In this paper, a systematic approach to state of charge estimator design using the fuzzy observer architecture is presented.  ...  all the vehicles with safe paths, based on graph theoretic considerations.  ... 
doi:10.1109/mra.2012.2230568 fatcat:33actbknxrel3jnag2kx7cncem
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