自调度L1鲁棒车辆侧滑角估计

Xing-nan Zhou, Heran Shen, Zejiang Wang, Jun-ming Wang
{"title":"自调度L1鲁棒车辆侧滑角估计","authors":"Xing-nan Zhou, Heran Shen, Zejiang Wang, Jun-ming Wang","doi":"10.23919/ACC53348.2022.9867707","DOIUrl":null,"url":null,"abstract":"Respecting vehicle dynamics, the sideslip angle is a vitally important state for assessing and maintaining the lateral stability. As a practical barrier, the direct sensory measurement for such a state is overly expensive and not always reliable. In view of this, a self-scheduled L1 robust observer is synthesized in this paper to estimate the sideslip angle. Three objectives are achieved via the proposed estimation algorithm. First, the peak-to-peak induced gain from the exogenous disturbances to the estimation error is attenuated. Second, exploiting the Modified Finsler’s Lemma, the proposed strategy is effectually robust against bounded tire cornering stiffness perturbations. Third, the time-varying vehicular longitudinal velocity is compensated for by a polytopic gain-scheduling scheme. The proposed robust observer is corroborated via the high-fidelity CARSIM simulation, and its performance is contrasted against a baseline method.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Self-scheduled L1 Robust Vehicular Sideslip Angle Estimation\",\"authors\":\"Xing-nan Zhou, Heran Shen, Zejiang Wang, Jun-ming Wang\",\"doi\":\"10.23919/ACC53348.2022.9867707\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Respecting vehicle dynamics, the sideslip angle is a vitally important state for assessing and maintaining the lateral stability. As a practical barrier, the direct sensory measurement for such a state is overly expensive and not always reliable. In view of this, a self-scheduled L1 robust observer is synthesized in this paper to estimate the sideslip angle. Three objectives are achieved via the proposed estimation algorithm. First, the peak-to-peak induced gain from the exogenous disturbances to the estimation error is attenuated. Second, exploiting the Modified Finsler’s Lemma, the proposed strategy is effectually robust against bounded tire cornering stiffness perturbations. Third, the time-varying vehicular longitudinal velocity is compensated for by a polytopic gain-scheduling scheme. The proposed robust observer is corroborated via the high-fidelity CARSIM simulation, and its performance is contrasted against a baseline method.\",\"PeriodicalId\":366299,\"journal\":{\"name\":\"2022 American Control Conference (ACC)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-06-08\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 American Control Conference (ACC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.23919/ACC53348.2022.9867707\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 American Control Conference (ACC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ACC53348.2022.9867707","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1

摘要

考虑到车辆的动力学特性,侧滑角是评估和保持车辆横向稳定性的重要状态。作为一个实际障碍,这种状态的直接感官测量过于昂贵,而且并不总是可靠的。鉴于此,本文合成了一个自调度L1鲁棒观测器来估计侧滑角。通过所提出的估计算法实现了三个目标。首先,对外源干扰对估计误差的峰对峰诱导增益进行衰减。其次,利用改进的Finsler引理,提出的策略对有界轮胎转弯刚度摄动具有有效的鲁棒性。第三,采用多面体增益调度方案对随时间变化的车辆纵向速度进行补偿。通过高保真CARSIM仿真验证了所提出的鲁棒观测器,并将其性能与基线方法进行了对比。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Self-scheduled L1 Robust Vehicular Sideslip Angle Estimation
Respecting vehicle dynamics, the sideslip angle is a vitally important state for assessing and maintaining the lateral stability. As a practical barrier, the direct sensory measurement for such a state is overly expensive and not always reliable. In view of this, a self-scheduled L1 robust observer is synthesized in this paper to estimate the sideslip angle. Three objectives are achieved via the proposed estimation algorithm. First, the peak-to-peak induced gain from the exogenous disturbances to the estimation error is attenuated. Second, exploiting the Modified Finsler’s Lemma, the proposed strategy is effectually robust against bounded tire cornering stiffness perturbations. Third, the time-varying vehicular longitudinal velocity is compensated for by a polytopic gain-scheduling scheme. The proposed robust observer is corroborated via the high-fidelity CARSIM simulation, and its performance is contrasted against a baseline method.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
相关文献
二甲双胍通过HDAC6和FoxO3a转录调控肌肉生长抑制素诱导肌肉萎缩
IF 8.9 1区 医学Journal of Cachexia, Sarcopenia and MusclePub Date : 2021-11-02 DOI: 10.1002/jcsm.12833
Min Ju Kang, Ji Wook Moon, Jung Ok Lee, Ji Hae Kim, Eun Jeong Jung, Su Jin Kim, Joo Yeon Oh, Sang Woo Wu, Pu Reum Lee, Sun Hwa Park, Hyeon Soo Kim
具有疾病敏感单倍型的非亲属供体脐带血移植后的1型糖尿病
IF 3.2 3区 医学Journal of Diabetes InvestigationPub Date : 2022-11-02 DOI: 10.1111/jdi.13939
Kensuke Matsumoto, Taisuke Matsuyama, Ritsu Sumiyoshi, Matsuo Takuji, Tadashi Yamamoto, Ryosuke Shirasaki, Haruko Tashiro
封面:蛋白质组学分析确定IRSp53和fastin是PRV输出和直接细胞-细胞传播的关键
IF 3.4 4区 生物学ProteomicsPub Date : 2019-12-02 DOI: 10.1002/pmic.201970201
Fei-Long Yu, Huan Miao, Jinjin Xia, Fan Jia, Huadong Wang, Fuqiang Xu, Lin Guo
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Optimal Connectivity during Multi-agent Consensus Dynamics via Model Predictive Control Gradient-Based Optimization for Anti-Windup PID Controls Power Management for Noise Aware Path Planning of Hybrid UAVs Fixed-Time Seeking and Tracking of Time-Varying Nash Equilibria in Noncooperative Games Aerial Interception of Non-Cooperative Intruder using Model Predictive Control
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1