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| HAL: hal-00697206, version 1 |
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| 20th Mediterranean Conference on Control and Automation, MED 2012, Barcelone : Espagne (2012) |
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| Proportional Two Integral (P2I) Observer Synthesis for Single Track Vehicle |
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| Chenane Chabane 1Dalil Ichalal 1 |
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| (2012-07-03) |
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| This paper deals with state estimation of Powered Two Wheeled (PTW) vehicle and robust reconstruction of related unknown inputs. For this purpose, we consider a Proportional two Integral (P2I) observer. Based on LMI technique, we recover vehicle states and part of its dynamics (rider action) within steering angle disturbances and system uncertainties. To prove the effectiveness and the robustness of the proposed observer, two different scenarios are considered: first we observe the system with disturbances without system's uncertainties. The second case is more general as the observer synthesis is conducted in the presence of steering angle disturbances/system's uncertainties. Both the state and the rideraction, on the handlebar, are recovered in the two cases. |
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| 1: | Informatique, Biologie Intégrative et Systèmes Complexes (IBISC) |
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Université d'Evry-Val d'Essonne : EA4526 |
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| VASCO |
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| Subject | : | Engineering Sciences/Automatic |
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| hal-00697206, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00697206 | |
| oai:hal.archives-ouvertes.fr:hal-00697206 | |
| From: Hichem Arioui | |
| Submitted on: Monday, 14 May 2012 18:06:20 | |
| Updated on: Friday, 29 March 2013 11:45:57 | |
