Search results for " input-state estimation"

showing 2 items of 2 documents

Robust Discrete-Time Lateral Control of Racecars by Unknown Input Observers

2023

This brief addresses the robust lateral control problem for self-driving racecars. It proposes a discrete-time estimation and control solution consisting of a delayed unknown input-state observer (UIO) and a robust tracking controller. Based on a nominal vehicle model, describing its motion with respect to a generic desired trajectory and requiring no information about the surrounding environment, the observer reconstructs the total force disturbance signal, resulting from imperfect knowledge of the time-varying tire-road interface characteristics, presence of other vehicles nearby, wind gusts, and other model uncertainty. Then, the controller actively compensates the estimated force and as…

Settore ING-INF/04 - AutomaticaControl and Systems EngineeringAutonomous vehicles Estimation extended state observer (ESO) Force input-state estimation Mathematical models Observers racecars robust vehicle control self-driving Trajectory Uncertainty Vehicle dynamicsElectrical and Electronic EngineeringIEEE Transactions on Control Systems Technology
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Racecar Longitudinal Control in Unknown and Highly-Varying Driving Conditions

2020

This paper focuses on racecar longitudinal control with highly-varying driving conditions. The main factors affecting the dynamic behavior of a vehicle, including aerodynamic forces, wheel rolling resistance, traction force resulting from changing tire-road interaction as well as the occurrence of sudden wind gusts or the presence of persistent winds, are considered and assumed to have unknown models. By exploiting the theory on delayed input-state observers and using measurement data about the vehicle and wheel speeds, a dynamic filter that allows the online reconstruction of the above-mentioned unknown time-varying quantities is derived. Moreover, by exploiting the notion of effective tir…

Electronic speed controlTractive forceObserver (quantum physics)Computer Networks and CommunicationsComputer scienceRolling resistanceAerospace EngineeringAerodynamicsVehicle dynamicsAerodynamic forceNoiseautonomous Vehicles input-state estimation racecars Self-drivingSettore ING-INF/04 - AutomaticaControl theoryWind gustAutomotive EngineeringElectrical and Electronic EngineeringIEEE Transactions on Vehicular Technology
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