Observer design for two-wheeled vehicle: A Takagi-Sugeno approach with unmeasurable premise variables

This paper is dedicated to the problem of observer design for Takagi-Sugeno (T-S) nonlinear systems with unmeasurable premise variables (TSUPV) and application to autonomous bicycle system. The main idea is based on the use of differential mean value theorem combined to the sector nonlinearity trans...

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Bibliographic Details
Published in2011 19th Mediterranean Conference on Control and Automation pp. 934 - 939
Main Authors Ichalal, Dalil, Arioui, Hichem, Mammar, Said
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2011
Subjects
LMI
Mathematical model
Motorcycles
Nonlinear systems
observer design
Observers
Stability analysis
Takagi-Sugeno nonlinear systems
two-wheeled vehicles
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ISBN9781457701245
1457701243
DOI10.1109/MED.2011.5983232

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Summary:This paper is dedicated to the problem of observer design for Takagi-Sugeno (T-S) nonlinear systems with unmeasurable premise variables (TSUPV) and application to autonomous bicycle system. The main idea is based on the use of differential mean value theorem combined to the sector nonlinearity transformation. The objective of this approach is to make the state estimation error dynamic on a T-S form which allows to apply the classical Lyapunov analysis to derive convergence conditions. The design algorithm is proposed in terms of linear matrix inequalities (LMI). To illustrate the proposed methodology, a nonlinear bicycle model is considered.
ISBN:9781457701245
1457701243
DOI:10.1109/MED.2011.5983232