Estimation of a control-oriented vehicle model based on grey-box method and an adaptive observer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper an adaptive observer-based method is proposed for the estimation of a control-oriented vehicle model, in which there are both unknown varying parameters and unknown states. The method is based on a control-oriented Linear Parameter Varying (LPV) model of the yaw-roll dynamics of the vehicle. Since the lateral adhesion coefficient changes during vehicle maneuvers this variable is estimated as a scheduling variable in the LPV model. In order to estimate the unknown parameters of the model a grey-box identification method is proposed. In the method the interaction between the lateral adhesion coefficient and the unknown states, e.g. the side-slip angle are also considered. The estimation procedure is illustrated through simulation examples.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Pages1310-1315
Number of pages6
Volume15
EditionPART 1
DOIs
Publication statusPublished - 2009
Event15th IFAC Symposium on System Identification, SYSID 2009 - Saint-Malo, France
Duration: Jul 6 2009Jul 8 2009

Other

Other15th IFAC Symposium on System Identification, SYSID 2009
CountryFrance
CitySaint-Malo
Period7/6/097/8/09

Fingerprint

Adhesion
Identification (control systems)
Scheduling

Keywords

  • Adaptive observer
  • Grey-box identification
  • LPV control
  • Robustness
  • Vehicle control

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Estimation of a control-oriented vehicle model based on grey-box method and an adaptive observer. / Gáspár, P.; Szabó, Z.; Bokor, J.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 15 PART 1. ed. 2009. p. 1310-1315.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Gáspár, P, Szabó, Z & Bokor, J 2009, Estimation of a control-oriented vehicle model based on grey-box method and an adaptive observer. in IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 edn, vol. 15, pp. 1310-1315, 15th IFAC Symposium on System Identification, SYSID 2009, Saint-Malo, France, 7/6/09. https://doi.org/10.3182/20090706-3-FR-2004.0205
Gáspár, P. ; Szabó, Z. ; Bokor, J. / Estimation of a control-oriented vehicle model based on grey-box method and an adaptive observer. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 15 PART 1. ed. 2009. pp. 1310-1315
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