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Comparison of several robust observers for automotive damper force estimation

Abstract : This paper aims at comparing three robust observers used to estimate the damping force of of elec-trorheological (ER) damper in a vehicle suspension system. Firstly, a nonlinear quarter-car model, augmented with a first-order dynamical nonlinear damper model, is developed. The first two methods are designed considering the nonlinearity as an unknown input and minimizing the effect of the unknown input disturbances (including nonlinearity term, measurment noise, unknown road profile) on the estimation errors, by using an H 2 and H ∞ criterion, respectively. The latter method is to only minimize the effects of measurement noises and road profiles on the state variable estimation errors by using a H ∞ criterion while the nonlinearity is bounded through a Lipschitz condition. Two low-cost sensors signals (two accelerometers data from the sprung mass and the unsprung mass) are considered as inputs for the observer designs. Finally, the observers are implemented on the INOVE testbench from GIPSA-lab (1/5-scaled real vehicle) to assess and compare experimentally the performances of the approaches. Both simulations and experimental results demonstrate a better effectiveness of the latter observer in terms of the ability of estimating the damper force in real-time despite the nonlinearity, the measurement noises and the road disturbances.
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Contributor : Luc Dugard <>
Submitted on : Friday, June 14, 2019 - 6:14:24 PM
Last modification on : Thursday, July 9, 2020 - 5:02:06 PM


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  • HAL Id : hal-02156880, version 1



Thanh-Phong Pham, Olivier Sename, Luc Dugard. Comparison of several robust observers for automotive damper force estimation. 8th International Conference on Mechatronics and Control Engineering (ICMCE 2019), Jul 2019, Paris, France. ⟨hal-02156880⟩



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