Tire Force Estimation using a Proportional Integral Observer

13th European Workshop on Advanced Control and Diagnosis

Farhat, Ahmad^1 ; Koenig, Damien^1 ; Hernandez-Alcantara, Diana^2 ; Morales-Menendez, Ruben^2

Gipsa-Lab INPG 11 Rue des Mathématiques, Grenoble Campus BP 46, Saint Martin d'Hères Cedex

38, 402, France^1

Tecnológico de Monterrey, School of Engineering and Sciences, Av Eugenio Garza Sada # 2501, Col. Tecnológico 64, Nuevo León Monterrey

849, Mexico^2

关键词: Disturbance attenuation;    Multi-objective problem;    Multiple Lyapunov function;    Proportional integral observer;    Proportional-integral observers;    Residual sensitivities;    Robust fault detection;    Uncertain switched systems;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/783/1/012014/pdf
DOI  :  10.1088/1742-6596/783/1/012014

来源: IOP

【 摘 要 】

This paper addresses a method for detecting critical stability situations in the lateral vehicle dynamics by estimating the non-linear part of the tire forces. These forces indicate the road holding performance of the vehicle. The estimation method is based on a robust fault detection and estimation approach which minimize the disturbance and uncertainties to residual sensitivity. It consists in the design of a Proportional Integral Observer (PIO), while minimizing the well known H∞norm for the worst case uncertainties and disturbance attenuation, and combining a transient response specification. This multi-objective problem is formulated as a Linear Matrix Inequalities (LMI) feasibility problem where a cost function subject to LMI constraints is minimized. This approach is employed to generate a set of switched robust observers for uncertain switched systems, where the convergence of the observer is ensured using a Multiple Lyapunov Function (MLF). Whilst the forces to be estimated can not be physically measured, a simulation scenario with CarSimTMis presented to illustrate the developed method.