LPV unknown input observer for vehiclelateral dynamics

摘要

This paper focuses on the estimation of the variables for vehicle lateral dynamics. The estimation is based on Linear Parameter Varying Unknown Input Observer. The model of vehicle lateral dynamics considered in this work contains a nonlinear part decoupled in the state equation. The Observer conditions of the Unknown Input Observer are expressed as Linear Matrix Inequalities. Simulations are presented in order to show the effectiveness of this approach. The data provided for this simulation are done by the Center of Research of Flanders Make.