Fuzzy Sliding-Mode Observer for Lateral Dynamics of Vehicles with Consideration of Roll Motion

Youssfi, Naoufal El; Oudghiri, Mohammed; Aïtouche, Abdel; Bachtiri, Rachid El

doi:10.1109/med.2018.8442946

Cited by 9 publications

(4 citation statements)

References 17 publications

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“…In References 8 and 9, Kalman filter has been used which is robust to measurement noise. In References 10 and 11, sliding mode observer has been implemented to ensure the asymptotic decay of the state estimation error even in the presence of uncertainties in the system input and nonlinearities.…”

Section: Introductionmentioning

confidence: 99%

Unknown input observer design for vehicle lateral dynamics described by Takagi–Sugeno fuzzy systems

Youssfi

Bachtiri

Zoulagh

et al. 2021

Optim Control Appl Methods

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This article discusses the problem of an unknown input observer for nonlinear lateral dynamic systems. Takagi–Sugeno fuzzy models have been used to represent the vehicle lateral system with parameters uncertain. The observer used is well suited to estimate the vehicle state and actuator/sensor faults, simultaneously. By using Finsler's lemma, the conditions obtained are expressed through linear matrix inequality constraints. Finally, the results of the simulation clearly show the importance and effectiveness of the proposed approaches.

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Section: Introductionmentioning

confidence: 99%

Unknown input observer design for vehicle lateral dynamics described by Takagi–Sugeno fuzzy systems

Youssfi

Bachtiri

Zoulagh

et al. 2021

Optim Control Appl Methods

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show abstract

“…The expansion of the autonomous vehicle industry is influenced by the development of electric vehicles due to its capability to accommodate precise control strategy [1,2]. An autonomous vehicle control is designed with active elements to ensure the stability of the vehicle [3]. Few of such active safety elements are anti-lock braking system (ABS), adaptive cruise control (ACC), dynamic stability program (DSC) and electronic stability program (ESP) [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

“…Most of the active safety controls are developed by using vehicle dynamic model which requires the vehicle lateral and longitudinal forces as an input in determining the vehicle states such as longitudinal acceleration, lateral acceleration, yaw rate and body slip angle. Most of the aforementioned vehicle states can be measured using instrumental sensors such as GPS and accelerometer [3]. However, such sensors are also unreliable due to their limitations such as loss of signals, effect of weather and high cost.…”

Section: Introductionmentioning

confidence: 99%

Effect of load distribution on longitudinal and lateral forces acting on each wheel of a compact electric vehicle

et al. 2020

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Autonomous vehicle is gaining popularity in the market worldwide. Most autonomous vehicle are based on electric vehicles since they are easy to control. The torque control of electric vehicles is precise and easy since electric motor torque can be manipulated by controlling the motor current. Furthermore, the load of the vehicle affects the motor torque of an electric vehicle. A higher vehicle load requires high motor torque to propel the vehicle. Often in autonomous vehicle, the vehicle parameters and stability measure are set within a limit based on standard vehicle settings. However, a vehicle loaded with extra mass on either side can offset these parameters affecting the efficiency of the controller. Thus, in this paper the effect of load on vehicle longitudinal and lateral forces is identified. A simulation model of a two rear in-wheel motored electric vehicle is developed. The model is used to analyze the effect of load on vehicle longitudinal and lateral forces. Based on the result, increasing the load on the side of direction of lateral motion increases the lateral force generated. The high lateral force causes the tires to approach the tire friction circle limit. This can affect the automated vehicle performance since the tires are in unstable region.

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“…Some of the systems have already been installed in passenger cars (Antilock Braking System, Electronic Stabilization Program, Adaptive Cruise Control ...). However, these systems can be further improved using advanced estimation and control design methods [1,2]. The main goal is still to produce comfortable and safe vehicles.…”

mentioning

confidence: 99%

Fuzzy state and output feedback - control for vehicle lateral dynamics

Youssfi¹,

Bachtiri²,

Chaibi

2020

International Meeting on Advanced Technologies in Energy and Electrical Engineering

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Fuzzy Sliding-Mode Observer for Lateral Dynamics of Vehicles with Consideration of Roll Motion

Cited by 9 publications

References 17 publications

Unknown input observer design for vehicle lateral dynamics described by Takagi–Sugeno fuzzy systems

Unknown input observer design for vehicle lateral dynamics described by Takagi–Sugeno fuzzy systems

Effect of load distribution on longitudinal and lateral forces acting on each wheel of a compact electric vehicle

Fuzzy state and output feedback - control for vehicle lateral dynamics

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