State Estimation of Longitudinal Vehicle Model Using H∞ LMI-Based Nonlinear Observer

Modern transportation research has given a lot of attention to autonomous vehicles. For the control of these vehicles, the longitudinal states of vehicle dynamics play a critical role. The objective of the article is to develop an LMI-based nonlinear observer which estimates the states of vehicles u...

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Bibliographic Details
Main Authors: Mohite, Shivaraj, Alma, Marouane, Zemouche, Ali, Haddad, M.
Format: Conference Proceeding
Language:English
Subjects:
Automation
Autonomous vehicles
H∞ criterion
LMI-based nonlinear observer design
Mathematical models
Nonlinear autonomous vehicles
Nonlinear Lipschitz system
Observers
Transportation
Vehicle dynamics
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Summary:Modern transportation research has given a lot of attention to autonomous vehicles. For the control of these vehicles, the longitudinal states of vehicle dynamics play a critical role. The objective of the article is to develop an LMI-based nonlinear observer which estimates the states of vehicles under the presence of disturbance. To achieve this, the observer proposed in [1] is extended by using the H ∞ criterion, and a new LMI condition is derived. Further, the proposed observer is implemented and validated on a third-order "Position-VelocityAcceleration" nonlinear autonomous vehicle model.
ISSN:2473-3504
DOI:10.1109/MED59994.2023.10185645