Nonlinear Time-Delay Observer-Based Control to Estimate Vehicle States: Lateral Vehicle Model
This paper deals with the state estimation and control problem for nonlinear lateral vehicle dynamics with time delays. First, a novel time-varying delay vehicle model described as a Takagi-Sugeno fuzzy model is presented. In particular, it is considered that the lateral force contains an air resist...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2022-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9905600/ |
| _version_ | 1811234558817861632 |
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| author | Hicham El Aiss Karina A. Barbosa Andres A. Peters |
| author_facet | Hicham El Aiss Karina A. Barbosa Andres A. Peters |
| author_sort | Hicham El Aiss |
| collection | DOAJ |
| description | This paper deals with the state estimation and control problem for nonlinear lateral vehicle dynamics with time delays. First, a novel time-varying delay vehicle model described as a Takagi-Sugeno fuzzy model is presented. In particular, it is considered that the lateral force contains an air resistance term which is assumed to be a quadratic function of the lateral vehicle velocity. A time-varying delay has been included in the vehicle states by a simple formula in order to capture brake actuation aspects or other practical aspects that may generate a delayed response, while the nonlinear part of the vehicle model is described as a Lipschitz function. A Takagi-Sugeno time-delay observer-based control that satisfies the Lipschitz condition is proposed to get closed-loop stability conditions. These results generalize existing ones in the literature on lateral dynamics control. Additionally, we provide a new methodology for the controller and observer gains design that can be cast as linear matrix inequality constraints. Finally, we illustrate our results with numerical examples, which also reveal the negative effect of not considering the presence of delays in the controller design. |
| first_indexed | 2024-04-12T11:38:23Z |
| format | Article |
| id | doaj.art-3efac1ed4c3143d894423fe0db12660f |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-12T11:38:23Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-3efac1ed4c3143d894423fe0db12660f2022-12-22T03:34:45ZengIEEEIEEE Access2169-35362022-01-011011045911047210.1109/ACCESS.2022.32105669905600Nonlinear Time-Delay Observer-Based Control to Estimate Vehicle States: Lateral Vehicle ModelHicham El Aiss0https://orcid.org/0000-0003-1098-275XKarina A. Barbosa1https://orcid.org/0000-0001-7183-2662Andres A. Peters2https://orcid.org/0000-0003-3282-770XDepartment of Electrical Engineering, Universidad de Santiago de Chile, Santiago, ChileDepartment of Electrical Engineering, Universidad de Santiago de Chile, Santiago, ChileFaculty of Engineering and Sciences, Universidad Adolfo Ibáñez, Santiago, ChileThis paper deals with the state estimation and control problem for nonlinear lateral vehicle dynamics with time delays. First, a novel time-varying delay vehicle model described as a Takagi-Sugeno fuzzy model is presented. In particular, it is considered that the lateral force contains an air resistance term which is assumed to be a quadratic function of the lateral vehicle velocity. A time-varying delay has been included in the vehicle states by a simple formula in order to capture brake actuation aspects or other practical aspects that may generate a delayed response, while the nonlinear part of the vehicle model is described as a Lipschitz function. A Takagi-Sugeno time-delay observer-based control that satisfies the Lipschitz condition is proposed to get closed-loop stability conditions. These results generalize existing ones in the literature on lateral dynamics control. Additionally, we provide a new methodology for the controller and observer gains design that can be cast as linear matrix inequality constraints. Finally, we illustrate our results with numerical examples, which also reveal the negative effect of not considering the presence of delays in the controller design.https://ieeexplore.ieee.org/document/9905600/Lateral vehicle modeltime-varying delayobserver-based controlT-S fuzzy modelLMIs |
| spellingShingle | Hicham El Aiss Karina A. Barbosa Andres A. Peters Nonlinear Time-Delay Observer-Based Control to Estimate Vehicle States: Lateral Vehicle Model IEEE Access Lateral vehicle model time-varying delay observer-based control T-S fuzzy model LMIs |
| title | Nonlinear Time-Delay Observer-Based Control to Estimate Vehicle States: Lateral Vehicle Model |
| title_full | Nonlinear Time-Delay Observer-Based Control to Estimate Vehicle States: Lateral Vehicle Model |
| title_fullStr | Nonlinear Time-Delay Observer-Based Control to Estimate Vehicle States: Lateral Vehicle Model |
| title_full_unstemmed | Nonlinear Time-Delay Observer-Based Control to Estimate Vehicle States: Lateral Vehicle Model |
| title_short | Nonlinear Time-Delay Observer-Based Control to Estimate Vehicle States: Lateral Vehicle Model |
| title_sort | nonlinear time delay observer based control to estimate vehicle states lateral vehicle model |
| topic | Lateral vehicle model time-varying delay observer-based control T-S fuzzy model LMIs |
| url | https://ieeexplore.ieee.org/document/9905600/ |
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