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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Unknown Input Observers for Simultaneous Estimation of Vehicle Dynamics and Driver Torque: Theoretical Design and Hardware Experiments
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Unknown Input Observers for Simultaneous Estimation of Vehicle Dynamics and Driver Torque: Theoretical Design and Hardware Experiments

机译：同时估计车辆动力学和驾驶员扭矩的未知输入观测器：理论设计和硬件实验

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摘要

This article investigates a new observer design method to estimate simultaneously both the vehicle dynamics and the unknown drivers torque. To take into account the time-varying nature of the longitudinal speed, the vehicle system is transformed into a polytopic linear parameter-varying (LPV) model with a reduced level of numerical complexity. Based on Lyapunov stability arguments, we prove that the estimation errors of the system state and of the unknown input (UI) are norm-bounded, which can be made arbitrarily small by minimizing a guaranteed $mathcal {L}_{infty }-$gain performance. The design of the LPV UI observer is reformulated as an linear matrix inequality-based optimization which can be effectively solved via semidefinite programming. Extensive hardware experiments are carried out under various driving test scenarios to confirm the effectiveness of the proposed observer design. In particular, a comparative study is performed with a widely adopted observer to emphasize the practical interests of the new estimation solution.
机译：本文研究了一种新的观察器设计方法，可以同时估算车辆动力学和未知驾驶员扭矩。考虑到纵向速度的时变性质，将车辆系统转换为具有降低的数值复杂性水平的多位线性参数变化（LPV）模型。基于Lyapunov稳定性参数，我们证明了系统状态和未知输入（UI）的估计误差是有范数界的，可以通过最小化保证的$ mathcal {L} _ { infty}使其任意小。 -$性能。 LPV UI观察器的设计被重新构造为基于线性矩阵不等式的优化，可以通过半定编程有效地解决。在各种驾驶测试场景下进行了广泛的硬件实验，以确认所提出的观察者设计的有效性。尤其是，与一个被广泛采用的观察者进行了比较研究，以强调新估算解决方案的实际利益。

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