Resilient Corner-Based Vehicle Velocity Estimation
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Date
2017-02-23
Authors
Pirani, Mohammad
Hashemi, Ehsan
Khajepour, Amir
Fidan, Baris
Kasaiezadeh Mahabadi, Seyed Alireza
Chen, Shih-Ken
Litkouhi, Baktiar
Advisor
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers
Abstract
This paper presents longitudinal and lateral velocity estimators by considering the effect of the suspension compliance (SC) at each corner (tire) for ground vehicles. The estimators are developed to be resilient to sensor measurement inaccuracies, model and tire parameter uncertainties, switchings in observer gains, and measurement failures. More particularly, the stability of the observer is investigated, and its robustness to road condition uncertainties and sensor noises is analyzed. The sensitivity of the observers' stability and performance to the model parameter changes is discussed. Moreover, the stability of the velocity observers for two cases of arbitrary and stochastic switching gains is investigated. The stochastic stability of the observer in the presence of faulty measurements is also studied, and it is shown that if the probability of a faulty measurement occurring is less than a certain threshold, the observer error dynamics will remain stochastically stable. The performance of the observer and the effect of the SC are validated via several road experiments.
Description
© 2017 IEEE. Pirani, M., Hashemi, E., Khajepour, A., Fidan, B., Kasaiezadeh, A., Chen, S.-K., & Litkouhi, B. (2017). Resilient Corner-Based Vehicle Velocity Estimation. IEEE Transactions on Control Systems Technology, 1–11. https://doi.org/10.1109/TCST.2017.2669157
Keywords
Tires, Observers, Roads, Stability analysis, Vehicle dynamics, Switches