Continuous-Time Switched H∞ Proportional-Integral observer: Application for sideslip and road bank angles estimation

Lghani Menhour; Damien Koenig; Brigitte D 'Andréa-Novel

doi:10.1109/ECC.2014.6862402

Communication dans un congrès

Continuous-Time Switched H∞ Proportional-Integral observer: Application for sideslip and road bank angles estimation

Lghani Menhour ¹ Damien Koenig ² Brigitte D 'Andréa-Novel ¹

1 CAOR - Centre de Robotique

2 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

GIPSA-DA - Département Automatique

Abstract : — In this work, a Continuous-Time Switched H ∞ Proportional-Integral (CTSH ∞ PI) observer is presented. The estimation method is based on a proportional-integral observer introduced by [13], [11], [12]. The estimation method is used to estimate simultaneously the state variables and unknown inputs of switched systems. A design method is established using a common Lyapunov function and H ∞ norm. Its stability and global convergence conditions are proved and expressed in term of LMIs. All conditions are established under given switching signals. The estimation method is applied in vehicle dynamics to estimate simultaneously the vehicle sideslip angle and road bank angle. Moreover, the switching signal is deduced from measured premise variables. Simulation tests with experimental data are included to demonstrate the advantage of this method.

Keywords : vehicle application LMI H ∞ -filtering Switched PI observer Switched systems stability

Type de document :

Communication dans un congrès

Domaine :

Sciences de l'ingénieur [physics] / Automatique / Robotique

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https://hal.univ-grenoble-alpes.fr/hal-01235992
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