Event-triggering H∞-based observer combined with NN for simultaneous estimation of vehicle sideslip and roll angles with network-induced delays

López Boada, María Jesús; López Boada, Beatriz; Zhang, Hui

Publication:
Event-triggering H∞-based observer combined with NN for simultaneous estimation of vehicle sideslip and roll angles with network-induced delays

dc.affiliation.area	UC3M. Área de Ingeniería Mecánica	es
dc.affiliation.dpto	UC3M. Departamento de Ingeniería Mecánica	es
dc.affiliation.grupoinv	UC3M. Grupo de Investigación: Advanced Vehicle Dynamics and Mechatronic Systems - VEDYMEC	es
dc.contributor.author	López Boada, María Jesús
dc.contributor.author	López Boada, Beatriz
dc.contributor.author	Zhang, Hui
dc.contributor.funder	Ministerio de Ciencia e Innovación (España)	es
dc.date.accessioned	2021-03-23T11:17:55Z
dc.date.available	2021-03-23T11:17:55Z
dc.date.issued	2021-02
dc.description.abstract	Nowadays, vehicles are being fitted with systems that improve their maneuverability, stability, and comfort in order to reduce the number of accidents. Improving these aspects is of particular interest thanks to the incorporation of autonomous vehicles onto the roads. The knowledge of vehicle sideslip and roll angles, which are among the main causes of road accidents, is necessary for a proper design of a lateral stability and roll-over controller system. The problem is that these two variables cannot be measured directly through sensors installed in current series production vehicles due to their high costs. For this reason, their estimation is fundamental. In addition, there is a time delay in the relaying of information between the different vehicle systems, such as, sensors, actuators and controllers, among others. This paper presents the design of an H∞-based observer that simultaneously estimates both the sideslip angle and the roll angle of a vehicle for a networked control system, with networked transmission delay based on an event-triggered communication scheme combined with neural networks (NN). To deal with the vehicle nonlinearities, NN and linear-parameter-varying techniques are considered alongside uncertainties in parameters. Both simulation and experimental results are carried out to prove the performance of observer design.	en
dc.description.sponsorship	This work was supported by the Agencia Estatal de Investigacion (AEI) of the Ministry of Science and Innovation of the Government of Spain through the project RTI2018-095143-B-C21.	en
dc.format.extent	20	es
dc.identifier.bibliographicCitation	Nonlinear dynamics, vol. 103, Feb. 2021, Pp. 2733-2752	en
dc.identifier.doi	https://doi.org/10.1007/s11071-021-06269-7
dc.identifier.issn	0924-090X
dc.identifier.publicationfirstpage	2733	es
dc.identifier.publicationlastpage	2752	es
dc.identifier.publicationtitle	NONLINEAR DYNAMICS	en
dc.identifier.publicationvolume	103	es
dc.identifier.uri	https://hdl.handle.net/10016/32207
dc.identifier.uxxi	AR/0000027191
dc.language.iso	eng	en
dc.publisher	Springer Nature Switzerland AG.	en
dc.relation.projectID	Gobierno de España. RTI2018-095143-B-C21	es
dc.rights	© The Author(s) 2021	en
dc.rights	This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder.	en
dc.rights	Atribución 3.0 España	*
dc.rights.accessRights	open access	en
dc.rights.uri	http://creativecommons.org/licenses/by/3.0/es/	*
dc.subject.eciencia	Ingeniería Mecánica	es
dc.subject.other	Nonlinear vehicle dynamics	en
dc.subject.other	Estimation	en
dc.subject.other	Event-triggered	en
dc.subject.other	Neural network	en
dc.subject.other	LPV	en
dc.subject.other	Model parameter uncertainty	en
dc.title	Event-triggering H∞-based observer combined with NN for simultaneous estimation of vehicle sideslip and roll angles with network-induced delays	en
dc.title.alternative	Event-triggering Hinfinity-based observer combined with NN for simultaneous estimation of vehicle sideslip and roll angles with network-induced delays	en
dc.type	research article	*
dc.type.hasVersion	VoR	*
dspace.entity.type	Publication