Robust State Estimation for Linear Time Varying Lateral Vehicle Dynamics with Unknown Road Curvature

Markus Tranninger, Martin Steinberger, Leonid Fridman, Martin Horn, Sergiy Zhuk

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandBegutachtung

Abstract

This paper presents a cascaded observer scheme for state estimation of the lateral vehicle dynamics. A velocity dependent linear time varying model where the road curvature acts as an unknown input is considered. The proposed observer structure is based on an H ∞ filter in combination with a higher order sliding mode compensator and yields finite time exact state reconstruction. The observer design is carried out step by step and simulation results show the applicability of the
proposed approach.
Originalspracheenglisch
TitelProceedings of the 15th International Workshop on Variable Structure Systems
PublikationsstatusVeröffentlicht - Jul 2018
Veranstaltung15th International Workshop on Variable Structure Systems - Graz University of Technology, Graz, Österreich
Dauer: 9 Jul 201811 Jul 2018

Konferenz

Konferenz15th International Workshop on Variable Structure Systems
KurztitelVSS 2018
LandÖsterreich
OrtGraz
Zeitraum9/07/1811/07/18

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