Road Bank Angle and Faults Estimation Using Unknown Input Proportional-Integral Observer

Chouki Sentouh (1) , Yazid Sebsadji (2) , Said Mammar (1) , Sébastien Glaser (2)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
2 LCPC - Laboratoire sur les Interactions Véhicule-Infrastructure-Conducteur

In this paper, we propose a road bank angle and faults estimation method using the unknown input Proportional-Integral (PI) observer with linear vehicle model. The goal is to estimate simultaneously, the states, the road bank angle and the faults of the system in the presence of disturbance input. We show how to determine the gain of the observer, which are solutions of Linear Matrix Inequalities (LMI). We propose then a method to estimate the faults. We also examine, how to improve the observer performances in particular regarding the convergence speed of the estimation error towards zero. We give at a conclusion, experimental results to show the good behavior of PI observer.

Mots clés: Estimation; Linear matrix inequalities; Roads and streets; Transportation Convergence speed; Estimation errors; Estimation methods; Observer performance; Proportional integral; Proportional integral observer; Road bank angle; Unknown inputs

Domaines: Robotique [cs.RO]; Système multi-agents [cs.MA]; Automatique; Mécanique [physics.med-ph]; Mécanique des structures [physics.class-ph]; Automatique / Robotique

Chouki Sentouh, Yazid Sebsadji, Said Mammar, Sébastien Glaser. Road Bank Angle and Faults Estimation Using Unknown Input Proportional-Integral Observer. 9th European Control Conference (ECC 2007), Jul 2007, kos, Greece. pp.5131--5138. ⟨hal-00342889⟩