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

dc.affiliation.areaUC3M. Área de Ingeniería Mecánicaes
dc.affiliation.dptoUC3M. Departamento de Ingeniería Mecánicaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Advanced Vehicle Dynamics and Mechatronic Systems - VEDYMECes
dc.contributor.authorLópez Boada, María Jesús
dc.contributor.authorLópez Boada, Beatriz
dc.contributor.authorZhang, Hui
dc.contributor.funderMinisterio de Ciencia e Innovación (España)es
dc.description.abstractNowadays, 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.sponsorshipThis 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.identifier.bibliographicCitationNonlinear dynamics, vol. 103, Feb. 2021, Pp. 2733-2752en
dc.identifier.publicationtitleNONLINEAR DYNAMICSen
dc.publisherSpringer Nature Switzerland AG.en
dc.relation.projectIDGobierno de España. RTI2018-095143-B-C21es
dc.rights© The Author(s) 2021en
dc.rightsThis 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.rightsAtribución 3.0 España*
dc.rights.accessRightsopen accessen
dc.subject.ecienciaIngeniería Mecánicaes
dc.subject.otherNonlinear vehicle dynamicsen
dc.subject.otherNeural networken
dc.subject.otherModel parameter uncertaintyen
dc.titleEvent-triggering H∞-based observer combined with NN for simultaneous estimation of vehicle sideslip and roll angles with network-induced delaysen
dc.title.alternativeEvent-triggering Hinfinity-based observer combined with NN for simultaneous estimation of vehicle sideslip and roll angles with network-induced delaysen
dc.typeresearch article*
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