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

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

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

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

Institut für Regelungs- und Automatisierungstechnik (4430)

Publikation: Beitrag in Buch/Bericht/Konferenzband › Beitrag in einem Konferenzband › Begutachtung

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.

Originalsprache	englisch
Titel	Proceedings of the 15th International Workshop on Variable Structure Systems
Publikationsstatus	Veröffentlicht - Juli 2018
Veranstaltung	15th International Workshop on Variable Structure Systems - Graz University of Technology, Graz, Österreich Dauer: 9 Juli 2018 → 11 Juli 2018

Konferenz

Konferenz	15th International Workshop on Variable Structure Systems
Kurztitel	VSS 2018
Land/Gebiet	Österreich
Ort	Graz
Zeitraum	9/07/18 → 11/07/18

Verlaesslichkeit im Internet der Dinge
Boano, C. A., Kubin, G., Bloem, R., Horn, M., Pernkopf, F., Zakany, N., Mangard, S., Witrisal, K., Römer, K. U., Aichernig, B., Bösch, W., Baunach, M. C., Tappler, M., Malenko, M., Weiser, S., Eichlseder, M., Leitinger, E., Grosinger, J., Großwindhager, B., Ebrahimi, M., Alothman Alterkawi, A. B., Knoll, C., Teschl, R., Saukh, O., Rath, M., Steinberger, M., Steinbauer-Wagner, G. & Tranninger, M.
1/01/16 → 31/03/22
Projekt: Forschungsprojekt

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@inproceedings{1e173a6eb73d40d180d51d135ef59f0d,

title = "Robust State Estimation for Linear Time Varying Lateral Vehicle Dynamics with Unknown Road Curvature",

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 theproposed approach.",

author = "Markus Tranninger and Martin Steinberger and Leonid Fridman and Martin Horn and Sergiy Zhuk",

year = "2018",

month = jul,

language = "English",

booktitle = "Proceedings of the 15th International Workshop on Variable Structure Systems",

note = "15th International Workshop on Variable Structure Systems, VSS 2018 ; Conference date: 09-07-2018 Through 11-07-2018",

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T1 - Robust State Estimation for Linear Time Varying Lateral Vehicle Dynamics with Unknown Road Curvature

AU - Tranninger, Markus

AU - Steinberger, Martin

AU - Fridman, Leonid

AU - Horn, Martin

AU - Zhuk, Sergiy

PY - 2018/7

Y1 - 2018/7

N2 - 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 theproposed approach.

AB - 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 theproposed approach.

M3 - Conference paper

BT - Proceedings of the 15th International Workshop on Variable Structure Systems

T2 - 15th International Workshop on Variable Structure Systems

Y2 - 9 July 2018 through 11 July 2018

ER -

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

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Konferenz

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