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Takagi-Sugeno fuzzy unknown input observers to estimate nonlinear dynamics of autonomous ground vehicles : theory and real-time verification
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Nguyen, Anh-Tu, Dinh, Truong Quang, Guerra, Thierry-Marie and Pan, Juntao (2021) Takagi-Sugeno fuzzy unknown input observers to estimate nonlinear dynamics of autonomous ground vehicles : theory and real-time verification. IEEE/ASME Transactions on Mechatronics, 26 (3). pp. 1328-1338. doi:10.1109/TMECH.2020.3049070
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WRAP-Takagi-Sugeno-fuzzy-nonlinear-dynamics-vehicles-verification-2021.pdf - Accepted Version - Requires a PDF viewer. Download (18Mb) | Preview |
Official URL: https://doi.org/10.1109/TMECH.2020.3049070
Abstract
We address the simultaneous estimation problem of the lateral speed, the steering input and the effective engine torque, which play a fundamental role in vehicle handling, stability control and fault diagnosis of autonomous ground vehicles. Due to the involved longitudinal-lateral coupling dynamics and the presence of unknown inputs (UIs), a new nonlinear observer design technique is proposed to guarantee the asymptotic estimation performance. To this end, we make use of a specific Takagi-Sugeno (TS) fuzzy representation with nonlinear consequents to exactly model the nonlinear vehicle dynamics within a compact set of the vehicle state. This TS fuzzy modeling not only allows reducing significantly the realtime computational effort in estimating the vehicle variables but also enables an effective way to deal with unmeasured nonlinearities. Moreover, via a generalized Luenberger observer structure, the UI decoupling can be achieved without requiring a priori UI information. Using Lyapunov stability arguments, the UI observer design is reformulated as an optimization problem under linear matrix inequalities, which can be effectively solved with standard numerical solvers. The effectiveness of the proposed TS fuzzy UI observer design is demonstrated with realtime hardware-in-the-loop experiments.
| Item Type: | Journal Article | ||||||||
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| Subjects: | Q Science > QA Mathematics T Technology > TA Engineering (General). Civil engineering (General) T Technology > TJ Mechanical engineering and machinery T Technology > TL Motor vehicles. Aeronautics. Astronautics |
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| Divisions: | Faculty of Science > WMG (Formerly the Warwick Manufacturing Group) | ||||||||
| Library of Congress Subject Headings (LCSH): | Automated vehicles -- Dynamics, Automated vehicles -- Dynamics -- Mathematical models, Fuzzy systems , Torque , Automated vehicles | ||||||||
| Journal or Publication Title: | IEEE/ASME Transactions on Mechatronics | ||||||||
| Publisher: | Institute of Electrical and Electronics Engineers | ||||||||
| ISSN: | 1083-4435 | ||||||||
| Official Date: | June 2021 | ||||||||
| Dates: |
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| Volume: | 26 | ||||||||
| Number: | 3 | ||||||||
| Page Range: | pp. 1328-1338 | ||||||||
| DOI: | 10.1109/TMECH.2020.3049070 | ||||||||
| Status: | Peer Reviewed | ||||||||
| Publication Status: | Published | ||||||||
| Publisher Statement: | © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | ||||||||
| Access rights to Published version: | Restricted or Subscription Access |
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