Sideslip angle estimation of ground vehicles in a finite frequency domain through H-infinity approach

Doha El Hellani; Ahmed El Hajjaji; Roger Ceschi; Abdel Aitouche

Communication dans un congrès

Sideslip angle estimation of ground vehicles in a finite frequency domain through H-infinity approach

Doha El Hellani ¹ Ahmed El Hajjaji ¹ Roger Ceschi ² Abdel Aitouche ³

1 MIS - Modélisation, Information et Systèmes - UR UPJV 4290

2 FSATI, Department of Electrical Electronic and Computer Engineering

3 CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189

Abstract : This paper studies the sideslip angle estimation problem of a ground vehicle in a finite frequency (FF) domain. The main objective is to estimate the sideslip angle using the yaw rate measurements. Filter design conditions are developed based on the uncertain lateral dynamics model, and time domain interpretations of the kalman Yakubovich Popov lemma (GKYP lemma) The designed filter ensures that the estimation error system is stable and has a prescribed H-infinity attenuation level, over a specified FF domain of the vehicle steering angle. Simulation results are presented to demonstrate the effectiveness of the proposed approach.

Type de document :

Communication dans un congrès

Domaine :

Sciences de l'ingénieur [physics] / Automatique / Robotique

Liste complète des métadonnées

https://hal-u-picardie.archives-ouvertes.fr/hal-03633226
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Soumis le : mercredi 6 avril 2022 - 18:57:09
Dernière modification le : samedi 23 avril 2022 - 15:51:42

Sideslip angle estimation of ground vehicles in a finite frequency domain through H-infinity approach

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Sideslip angle estimation of ground vehicles in a finite frequency domain through H-infinity approach

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