Design of Robust Observers for Active Roll Control
This paper presents robust observers for active roll control. Generally, active roll control adopts feedback control structure with roll angle and roll rate signals which should be measured with a sensor. For active roll control, it is necessary to estimate the roll angle with roll rate measurement...
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8918041/ |
| _version_ | 1818427889320722432 |
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| author | Manbok Park Seongjin Yim |
| author_facet | Manbok Park Seongjin Yim |
| author_sort | Manbok Park |
| collection | DOAJ |
| description | This paper presents robust observers for active roll control. Generally, active roll control adopts feedback control structure with roll angle and roll rate signals which should be measured with a sensor. For active roll control, it is necessary to estimate the roll angle with roll rate measurement using an observer because the roll angle is difficult to measure, compared to the roll rate. However, an observer designed with fixed parameters can give poor estimation performance since there are large uncertainty in parameters of real vehicles. A robust observer is designed to cope with the parameter uncertainty. In this paper, a dual Kalman filter and Kalman filter with constant velocity model are adopted as a robust observer. The performance of the proposed algorithm has been investigated via computer simulations and vehicle tests. |
| first_indexed | 2024-12-14T14:52:54Z |
| format | Article |
| id | doaj.art-f62b2524ecb748fdaf81f5612cc48ea5 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-14T14:52:54Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-f62b2524ecb748fdaf81f5612cc48ea52022-12-21T22:57:05ZengIEEEIEEE Access2169-35362019-01-01717303417304310.1109/ACCESS.2019.29567438918041Design of Robust Observers for Active Roll ControlManbok Park0https://orcid.org/0000-0001-5976-0539Seongjin Yim1https://orcid.org/0000-0001-9482-6281Korea National University of Transportation, Chungju, South KoreaResearch Center for Electrical and Information Technology, Seoul National University of Science and Technology, Seoul, South KoreaThis paper presents robust observers for active roll control. Generally, active roll control adopts feedback control structure with roll angle and roll rate signals which should be measured with a sensor. For active roll control, it is necessary to estimate the roll angle with roll rate measurement using an observer because the roll angle is difficult to measure, compared to the roll rate. However, an observer designed with fixed parameters can give poor estimation performance since there are large uncertainty in parameters of real vehicles. A robust observer is designed to cope with the parameter uncertainty. In this paper, a dual Kalman filter and Kalman filter with constant velocity model are adopted as a robust observer. The performance of the proposed algorithm has been investigated via computer simulations and vehicle tests.https://ieeexplore.ieee.org/document/8918041/Active roll controlparameter uncertaintyrobust observerdual Kalman filterKalman filter with constant velocity model |
| spellingShingle | Manbok Park Seongjin Yim Design of Robust Observers for Active Roll Control IEEE Access Active roll control parameter uncertainty robust observer dual Kalman filter Kalman filter with constant velocity model |
| title | Design of Robust Observers for Active Roll Control |
| title_full | Design of Robust Observers for Active Roll Control |
| title_fullStr | Design of Robust Observers for Active Roll Control |
| title_full_unstemmed | Design of Robust Observers for Active Roll Control |
| title_short | Design of Robust Observers for Active Roll Control |
| title_sort | design of robust observers for active roll control |
| topic | Active roll control parameter uncertainty robust observer dual Kalman filter Kalman filter with constant velocity model |
| url | https://ieeexplore.ieee.org/document/8918041/ |
| work_keys_str_mv | AT manbokpark designofrobustobserversforactiverollcontrol AT seongjinyim designofrobustobserversforactiverollcontrol |