Robust interval observer for switched systems with unknown inputs: Application to vehicle dynamics estimation

Sara Ifqir 1 Dalil Ichalal 1 Naima Ait Oufroukh 1 Saïd Mammar 1
1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
Abstract : This paper investigates the problem of robust state estimation and unknown input interval reconstruction for uncertain switched linear systems. Parameters uncertainty are supposed to be provided with known bounded compact set. A design method for obtaining interval observers that provide guaranteed lower and upper bounds of the state and unknown inputs is proposed. By adopting multiple quadratic ISS-Lyapunov function and average dwell time concept, new and less conservative stability conditions are derived, and a set of numerical feasible linear matrix inequalities (LMIs) are given. An application to vehicle lateral dynamics estimation is considered to show the effectiveness of the algorithms. Experimental data obtained with a prototype vehicle are used to confirm the performance of the proposed approach.
Keywords : Unknown inputs interval reconstruction Uncertain continuous-time switched systems Average dwell time LMIs Multiple quadratic ISS-Lyapunov function Switched interval observer
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Journal articles
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https://hal.archives-ouvertes.fr/hal-01906532
Contributor : Frédéric Davesne <>
Submitted on : Friday, October 26, 2018 - 7:45:46 PM
Last modification on : Monday, October 28, 2019 - 10:50:22 AM

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IBISC | UNIV-EVRY | IBISC-SIBI | TDS-MACS | UNIV-PARIS-SACLAY

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Sara Ifqir, Dalil Ichalal, Naima Ait Oufroukh, Saïd Mammar. Robust interval observer for switched systems with unknown inputs: Application to vehicle dynamics estimation. European Journal of Control, Lavoisier, 2018, 44, pp.3--14. ⟨10.1016/j.ejcon.2018.09.018⟩. ⟨hal-01906532⟩

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