Unknown Input Observers for Simultaneous Estimation of Vehicle Dynamics and Driver Torque: Theoretical Design and Hardware Experiments

This article investigates a new observer design method to estimate simultaneously both the vehicle dynamics and the unknown driver's torque. To take into account the time-varying nature of the longitudinal speed, the vehicle system is transformed into a polytopic linear parameter-varying (LPV)...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2019-12, Vol.24 (6), p.2508-2518
Main Authors: Nguyen, Anh-Tu, Guerra, Thierry-Marie, Sentouh, Chouki, Zhang, Hui
Format: Article
Language:English
Subjects:
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Automatic
Comparative studies
Driver steering intervention
Drivers
Engineering Sciences
Hardware
Linear matrix inequalities
Observers
Optimization
Semidefinite programming
Sensors
sideslip angle estimation
Tires
Torque
torque estimation
unknown input observer
Vehicle dynamics
Vehicles
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Summary:This article investigates a new observer design method to estimate simultaneously both the vehicle dynamics and the unknown driver's torque. To take into account the time-varying nature of the longitudinal speed, the vehicle system is transformed into a polytopic linear parameter-varying (LPV) model with a reduced level of numerical complexity. Based on Lyapunov stability arguments, we prove that the estimation errors of the system state and of the unknown input (UI) are norm-bounded, which can be made arbitrarily small by minimizing a guaranteed L ∞ -gain performance. The design of the LPV UI observer is reformulated as an linear matrix inequality-based optimization which can be effectively solved via semidefinite programming. Extensive hardware experiments are carried out under various driving test scenarios to confirm the effectiveness of the proposed observer design. In particular, a comparative study is performed with a widely adopted observer to emphasize the practical interests of the new estimation solution.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2019.2933744