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New nonlinear Takagi-Sugeno vehicle model for state and road curvature estimation via nonlinear PMI observer

Zedjiga Yacine 1 Dalil Ichalal 2 Naima Ait Oufroukh 2 Saïd Mammar 2 Said Djennoune 1
1 UMMTO - Université Mouloud Mammeri [Tizi Ouzou]
2 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
Abstract : The present paper deals with an observer design for a nonlinear lateral vehicle model. The nonlinear model is represented by an exact Takagi-Sugeno (TS) model via the sector nonlinearity transformation. A proportional multiple integral observer (PMIO) based on the TS model is designed to estimate simultaneously the state vector and the unknown input (road curvature). The convergence conditions of the estimation error are expressed under LMI formulation using the Lyapunov theory which guaranties bounded error. Simulations are carried out and experimental results are provided to illustrate the proposed observer.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01505067
Contributor : Frédéric Davesne Connect in order to contact the contributor
Submitted on : Tuesday, April 11, 2017 - 12:06:56 AM
Last modification on : Saturday, May 1, 2021 - 3:41:36 AM

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UNIV-EVRY | IBISC | IBISC-SIBI | TDS-MACS | GS-COMPUTER-SCIENCE | UNIV-PARIS-SACLAY

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Zedjiga Yacine, Dalil Ichalal, Naima Ait Oufroukh, Saïd Mammar, Said Djennoune. New nonlinear Takagi-Sugeno vehicle model for state and road curvature estimation via nonlinear PMI observer. 2013 10th IEEE International Conference on Networking, Sensing and Control (ICNSC 2013), Apr 2013, Evry, France. pp.843--848, ⟨10.1109/ICNSC.2013.6548848⟩. ⟨hal-01505067⟩

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