Observer Based Controller for Single Track Vehicles

Habib Dabladji (1) , Dalil Ichalal (1) , Hichem Arioui (1) , Saïd Mammar (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

The present work deals with the observer based-controller design for nonlinear Powered Two-Wheelers Vehicles (PTW) modeled in Takagi-Sugeno fuzzy representation. Based on the Lyapunov method and Linear Matrix Inequality (LMI) formulation, sufficient conditions have been derived to prove the Input to State Stability (ISS) property of the nonlinear PTW model with such a controller. The main contribution of this paper is that the whole stability of the couple observer-controller is studied by designing the observer and the controller separately and proving the ISS of the whole nonlinear PTW model. The aim here is to ensure a best profile tracking of the PTW in term of roll preview (trajectory) for large range of longitudinal velocities.

Domaines: Automatique / Robotique

Habib Dabladji, Dalil Ichalal, Hichem Arioui, Saïd Mammar. Observer Based Controller for Single Track Vehicles. 52nd IEEE Conference on Decision and Control, Dec 2013, Florence, Italy. pp.7420--7425, ⟨10.1109/CDC.2013.6761067⟩. ⟨hal-00867305⟩