Vehicle State Estimation for Roll Control System

2007 ◽  
Author(s):  
Jihan Ryu ◽  
Nikloai K. Moshchuk ◽  
Shih-Ken Chen
Keyword(s):  
Control System ◽  
State Estimation ◽  
Roll Control ◽  
Vehicle State Estimation

scholarly journals A Novel Comprehensive Scheme for Vehicle State Estimation Using Dual Extended H-Infinity Kalman Filter

Electronics ◽  
2021 ◽  
Vol 10 (13) ◽  
pp. 1526
Author(s):  
Fengjiao Zhang ◽  
Yan Wang ◽  
Jingyu Hu ◽  
Guodong Yin ◽  
Song Chen ◽  
...  
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Estimation Accuracy ◽  
Vehicle Speed ◽  
Sideslip Angle ◽  
H Infinity ◽  
Yaw Rate ◽  
Cost Constraints ◽  
Active Safety Systems ◽  
Vehicle State Estimation

The performance of vehicle active safety systems relies on accurate vehicle state information. Estimation of vehicle state based on onboard sensors has been popular in research due to technical and cost constraints. Although many experts and scholars have made a lot of research efforts for vehicle state estimation, studies that simultaneously consider the effects of noise uncertainty and model parameter perturbation have rarely been reported. In this paper, a comprehensive scheme using dual Extended H-infinity Kalman Filter (EH∞KF) is proposed to estimate vehicle speed, yaw rate, and sideslip angle. A three-degree-of-freedom vehicle dynamics model is first established. Based on the model, the first EH∞KF estimator is used to identify the mass of the vehicle. Simultaneously, the second EH∞KF estimator uses the result of the first estimator to predict the vehicle speed, yaw rate, and sideslip angle. Finally, simulation tests are carried out to demonstrate the effectiveness of the proposed method. The test results indicate that the proposed method has higher estimation accuracy than the extended Kalman filter.

Sensor configurations and testbed for vehicle state estimation

2014 ◽  
Author(s):  
Varun Krishna Balakrishnnan ◽  
Stefano Longo ◽  
Efstathios Velenis ◽  
Phil Barber
Keyword(s):  
State Estimation ◽  
Vehicle State Estimation

Improvement in the rollover stability of a liquid-carrying articulated vehicle via a new robust controller

2016 ◽  
Vol 231 (3) ◽  
pp. 322-346 ◽  
Author(s):  
Mohammad Amin Saeedi ◽  
Reza Kazemi ◽  
Shahram Azadi
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Dynamic Model ◽  
Sliding Mode ◽  
Degree Of Freedom ◽  
Roll Control ◽  
Mode Control ◽  
Active Steering ◽  
Articulated Vehicle ◽  
Active Roll Control

In this paper, in order to improve the roll stability of an articulated vehicle carrying a liquid, an active roll control system is utilized by employing two different control methods. First, a 16-degree-of-freedom non-linear dynamic model of an articulated vehicle is developed. Next, the dynamic interaction of the liquid cargo with the vehicle is investigated by integrating a quasi-dynamic liquid sloshing model with a tractor–semitrailer model. Initially, to improve the lateral dynamic stability of the vehicle, an active roll control system is developed using classical integral sliding-mode control. The active anti-roll bar is employed as an actuator to generate the roll moment. Next, in order to verify the classical sliding-mode control performance and to eliminate its chattering, the backstepping method and the sliding-mode control method are combined. Subsequently, backstepping sliding-mode control as a new robust control is implemented. Moreover, in order to prevent both yaw instability and jackknifing, an active steering control system is designed on the basis of a simplified three-degree-of-freedom dynamic model of an articulated vehicle carrying a liquid. In the introduced system, the yaw rate of the tractor, the lateral velocity of the tractor and the articulation angle are considered as the three state variables which are targeted in order to track their desired values. The simulation results show that the combined proposed roll control system is more successful in achieving target control and reducing the lateral load transfer ratio than is classical sliding-mode control. A more detailed investigation confirms that the designed active steering system improves both the lateral stability of the vehicle and its handling, in particular during a severe lane-change manoeuvre in which considerable instability occurs.

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