|   | 
Author El Aiss, H.; Barbosa, K.A.; Peters, A.A.
Title Nonlinear Time-Delay Observer-Based Control to Estimate Vehicle States: Lateral Vehicle Model Type
Year 2022 Publication IEEE Access Abbreviated Journal IEEE Access
Volume 10 Issue Pages 110459-110472
Keywords Delays; Vehicle dynamics; Fuzzy systems; Time-varying systems; Computational modeling; Symmetric matrices; Mathematical models; Lateral vehicle model; time-varying delay; observer-based control; T-S fuzzy model; LMIs
Abstract This paper deals with the state estimation and control problem for nonlinear lateral vehicle dynamics with time delays. First, a novel time-varying delay vehicle model described as a Takagi-Sugeno fuzzy model is presented. In particular, it is considered that the lateral force contains an air resistance term which is assumed to be a quadratic function of the lateral vehicle velocity. A time-varying delay has been included in the vehicle states by a simple formula in order to capture brake actuation aspects or other practical aspects that may generate a delayed response, while the nonlinear part of the vehicle model is described as a Lipschitz function. A Takagi-Sugeno time-delay observer-based control that satisfies the Lipschitz condition is proposed to get closed-loop stability conditions. These results generalize existing ones in the literature on lateral dynamics control. Additionally, we provide a new methodology for the controller and observer gains design that can be cast as linear matrix inequality constraints. Finally, we illustrate our results with numerical examples, which also reveal the negative effect of not considering the presence of delays in the controller design.
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN 2169-3536 ISBN Medium
Area Expedition Conference
Notes WOS:000873762800001 Approved
Call Number UAI @ alexi.delcanto @ Serial 1670
Permanent link to this record