Home > Research > Publications & Outputs > Design of a reduced-order nonlinear observer fo...

Associated organisational unit

View graph of relations

Design of a reduced-order nonlinear observer for vehicle velocities estimation

Research output: Contribution to journalJournal article

Published

Standard

Design of a reduced-order nonlinear observer for vehicle velocities estimation. / Guo, Hongyan; Chen, Hong; Cao, Dongpu; Jin, Weiwei.

In: IET Control Theory and Applications, Vol. 7, No. 17, 2013, p. 2056–2068.

Research output: Contribution to journalJournal article

Harvard

Guo, H, Chen, H, Cao, D & Jin, W 2013, 'Design of a reduced-order nonlinear observer for vehicle velocities estimation', IET Control Theory and Applications, vol. 7, no. 17, pp. 2056–2068. https://doi.org/10.1049/iet-cta.2013.0276

APA

Guo, H., Chen, H., Cao, D., & Jin, W. (2013). Design of a reduced-order nonlinear observer for vehicle velocities estimation. IET Control Theory and Applications, 7(17), 2056–2068. https://doi.org/10.1049/iet-cta.2013.0276

Vancouver

Guo H, Chen H, Cao D, Jin W. Design of a reduced-order nonlinear observer for vehicle velocities estimation. IET Control Theory and Applications. 2013;7(17):2056–2068. https://doi.org/10.1049/iet-cta.2013.0276

Author

Guo, Hongyan ; Chen, Hong ; Cao, Dongpu ; Jin, Weiwei. / Design of a reduced-order nonlinear observer for vehicle velocities estimation. In: IET Control Theory and Applications. 2013 ; Vol. 7, No. 17. pp. 2056–2068.

Bibtex

@article{99f05db8ab544d5392ece82d1547393c,
title = "Design of a reduced-order nonlinear observer for vehicle velocities estimation",
abstract = "This study presents a novel reduced-order non-linear observer for vehicle velocities estimation based on vehicle dynamics and Unified Exponential tire model. Yaw rate is chosen to construct the reduced-order observer since it can be conceived as the function of vehicle velocities. The observer is designed such that the error dynamics system is input-to-state stability (ISS), where model errors including mass and CoG variation, and estimation or measurement error of the maximum tire–road friction coefficient are considered as additive disturbance inputs. Then, the condition of the observer gain satisfied is obtained by the ISS analysis and the lower observer gain is obtained through the convex optimisation described by the linear matrix inequalities. The proposed observer requires fewer tuning parameters and thus indicates an easier implementation compared with the existing extended Kalman filter. Simulation results demonstrate the effectiveness of the proposed reduced-order non-linear observer, which is also validated through experimental data from Hongqi vehicle HQ430. Furthermore, its computational efficiency is shown based on the laboratory Field Programmable Gate Array and System on a Programmable Chip testing platform.",
author = "Hongyan Guo and Hong Chen and Dongpu Cao and Weiwei Jin",
year = "2013",
doi = "10.1049/iet-cta.2013.0276",
language = "English",
volume = "7",
pages = "2056–2068",
journal = "IET Control Theory and Applications",
issn = "1751-8644",
publisher = "Institution of Engineering and Technology",
number = "17",

}

RIS

TY - JOUR

T1 - Design of a reduced-order nonlinear observer for vehicle velocities estimation

AU - Guo, Hongyan

AU - Chen, Hong

AU - Cao, Dongpu

AU - Jin, Weiwei

PY - 2013

Y1 - 2013

N2 - This study presents a novel reduced-order non-linear observer for vehicle velocities estimation based on vehicle dynamics and Unified Exponential tire model. Yaw rate is chosen to construct the reduced-order observer since it can be conceived as the function of vehicle velocities. The observer is designed such that the error dynamics system is input-to-state stability (ISS), where model errors including mass and CoG variation, and estimation or measurement error of the maximum tire–road friction coefficient are considered as additive disturbance inputs. Then, the condition of the observer gain satisfied is obtained by the ISS analysis and the lower observer gain is obtained through the convex optimisation described by the linear matrix inequalities. The proposed observer requires fewer tuning parameters and thus indicates an easier implementation compared with the existing extended Kalman filter. Simulation results demonstrate the effectiveness of the proposed reduced-order non-linear observer, which is also validated through experimental data from Hongqi vehicle HQ430. Furthermore, its computational efficiency is shown based on the laboratory Field Programmable Gate Array and System on a Programmable Chip testing platform.

AB - This study presents a novel reduced-order non-linear observer for vehicle velocities estimation based on vehicle dynamics and Unified Exponential tire model. Yaw rate is chosen to construct the reduced-order observer since it can be conceived as the function of vehicle velocities. The observer is designed such that the error dynamics system is input-to-state stability (ISS), where model errors including mass and CoG variation, and estimation or measurement error of the maximum tire–road friction coefficient are considered as additive disturbance inputs. Then, the condition of the observer gain satisfied is obtained by the ISS analysis and the lower observer gain is obtained through the convex optimisation described by the linear matrix inequalities. The proposed observer requires fewer tuning parameters and thus indicates an easier implementation compared with the existing extended Kalman filter. Simulation results demonstrate the effectiveness of the proposed reduced-order non-linear observer, which is also validated through experimental data from Hongqi vehicle HQ430. Furthermore, its computational efficiency is shown based on the laboratory Field Programmable Gate Array and System on a Programmable Chip testing platform.

U2 - 10.1049/iet-cta.2013.0276

DO - 10.1049/iet-cta.2013.0276

M3 - Journal article

VL - 7

SP - 2056

EP - 2068

JO - IET Control Theory and Applications

JF - IET Control Theory and Applications

SN - 1751-8644

IS - 17

ER -