Discrete-Time LPV H-2 Observer With Nonlinear Bounded Varying Parameter and Its Application to the Vehicle State Observer
- Title
- Discrete-Time LPV H-2 Observer With Nonlinear Bounded Varying Parameter and Its Application to the Vehicle State Observer
- Author
- 정정주
- Keywords
- Linear parameter varying (LPV); observers; road vehicles
- Issue Date
- 2018-11
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Citation
- IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v. 65, no. 11, page. 8768-8777
- Abstract
- In this paper, we designed a unique structure and developed a novel linear parameter varying (LPV) formulation design for a vehicle-model-based state observer. The design problem for a vehicle state observer was totally reformulated into an LPV system that depended on online accessible time-varying parameters. The proposed LPV formulation, which is presented for the first time in this paper, did not require high computational costs compared to a conventional approach using an extended Kalman filter (EKF) including a nonlinear term. With regard to vehicle state estimation using a global positioning system, we considered the measured course angle as a varying parameter. Observer gain scheduling was determined using an H-2 filter based on the linear matrix inequality approach. The state observer gain using a discrete-time H-2 filter couldminimize the error from a disturbance to a state. The stability of the proposed algorithm is proven, and the performance of the proposed method was demonstrated with an experimental test through a performance comparison with the EKF.
- URI
- https://ieeexplore.ieee.org/document/8310581https://repository.hanyang.ac.kr/handle/20.500.11754/120689
- ISSN
- 0278-0046; 1557-9948
- DOI
- 10.1109/TIE.2018.2813961
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML