The Experts below are selected from a list of 42789 Experts worldwide ranked by ideXlab platform
Saïd Mammar - One of the best experts on this subject based on the ideXlab platform.
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Vehicle Lateral Velocity and Lateral Tire-road Forces Estimation Based on Switched Interval Observers
2020Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Lateral Velocity and tire-road forces are vital signals that affect the stability of a vehicle under cornering. Unfortunately, for both technical and economic reasons, these fundamental vehicle parameters can hardly be measured directly through sensors. As a consequence, an efficient and reliable algorithm for estimating vehicle Lateral Velocity and tire-road forces is needed. This paper presents a novel framework for estimation of vehicle Lateral Velocity and Lateral tire-road forces. The proposed algorithm is based on switched interval observers and is able to cope with changes of tire operating conditions. The interval estimation algorithm is evaluated through experimental data acquired using an instrumented vehicle. Simulation results show that the developed system can reliably estimate the upper and lower bounds of vehicle Lateral variables during both steady and transient maneuvers.
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ACC - Vehicle Lateral Velocity and Lateral Tire-road Forces Estimation Based on Switched Interval Observers
2020 American Control Conference (ACC), 2020Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Lateral Velocity and tire-road forces are vital signals that affect the stability of a vehicle under cornering. Unfortunately, for both technical and economic reasons, these fundamental vehicle parameters can hardly be measured directly through sensors. As a consequence, an efficient and reliable algorithm for estimating vehicle Lateral Velocity and tire-road forces is needed. This paper presents a novel framework for estimation of vehicle Lateral Velocity and Lateral tire-road forces. The proposed algorithm is based on switched interval observers and is able to cope with changes of tire operating conditions. The interval estimation algorithm is evaluated through experimental data acquired using an instrumented vehicle. Simulation results show that the developed system can reliably estimate the upper and lower bounds of vehicle Lateral variables during both steady and transient maneuvers.
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An Unknown Input Switched Functional Interval Observer for Vehicle Lateral Velocity Estimation
2019Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Functional interval observer of dynamical switched systems provides significant advantages in practical applications. In view of the enlarged order of interval observers, applying interval functional observers can result in lower computational costs and more practicability in some applications such as output feedback control and fault diagnosis of these systems. In this paper, an unknown input functional state interval observer design for a class of switched uncertain systems is investigated. Necessary and sufficient conditions for observer existence are derived. Based on Input to State Stability (ISS) principle and Lyapunov theory, the stability and positivity conditions for the estimation errors are expressed in terms of Linear Matrix Inequalities. A design procedure algorithm of the state observer is given. Finally, the proposed estimation methodology is applied to vehicle Lateral Velocity estimation problem. Simulation results obtained, confirm the good accuracy and robustness of the proposed state estimation concept.
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CDC - An Unknown Input Switched Functional Interval Observer for Vehicle Lateral Velocity Estimation
2019 IEEE 58th Conference on Decision and Control (CDC), 2019Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Functional interval observer of dynamical switched systems provides significant advantages in practical applications. In view of the enlarged order of interval observers, applying interval functional observers can result in lower computational costs and more practicability in some applications such as output feedback control and fault diagnosis of these systems. In this paper, an unknown input functional state interval observer design for a class of switched uncertain systems is investigated. Necessary and sufficient conditions for observer existence are derived. Based on Input to State Stability (ISS) principle and Lyapunov theory, the stability and positivity conditions for the estimation errors are expressed in terms of Linear Matrix Inequalities. A design procedure algorithm of the state observer is given. Finally, the proposed estimation methodology is applied to vehicle Lateral Velocity estimation problem. Simulation results obtained, confirm the good accuracy and robustness of the proposed state estimation concept.
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Robust estimation of vehicle Lateral Velocity and yaw rate using switched T-S fuzzy interval observers
2017 IEEE International Conference on Systems Man and Cybernetics (SMC), 2017Co-Authors: Sara Ifqir, Dalil Ichalal, Ait N. Gufroukh, Saïd MammarAbstract:This paper presents a new robust estimation of the Lateral Velocity and yaw rate using switched Takagi-Sugeno fuzzy interval observers. The longitudinal Velocity is treated as the online measured time-varying parameter and the cornering stiffness at front and rear tires are assumed to be unknown but bounded with a priori known bounds. Based on a multiple model switching structure, this design divides the range of variation of the longitudinal Velocity into a finite number of adjoint regions and, accordingly, develops multiple interval observers for the multiple model set. The switching law which is assumed to be available online selects automatically the appropriate candidate estimator, according to the operation sub-region. Applying the proposed set-approach to estimate the Lateral vehicle dynamics allows to cope with uncertainties and ensures guaranteed bounds on the Lateral Velocity and yaw rate despite changes in tire/road and driving conditions. Sufficient conditions for the existence of the robust proposed observer are expressed in terms of Linear Matrix Inequalities through the use of a switched fuzzy ISS-Lyapunov function. Simulations based on experimental data demonstrate the effectivenesses of the proposed approach.
Sara Ifqir - One of the best experts on this subject based on the ideXlab platform.
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Vehicle Lateral Velocity and Lateral Tire-road Forces Estimation Based on Switched Interval Observers
2020Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Lateral Velocity and tire-road forces are vital signals that affect the stability of a vehicle under cornering. Unfortunately, for both technical and economic reasons, these fundamental vehicle parameters can hardly be measured directly through sensors. As a consequence, an efficient and reliable algorithm for estimating vehicle Lateral Velocity and tire-road forces is needed. This paper presents a novel framework for estimation of vehicle Lateral Velocity and Lateral tire-road forces. The proposed algorithm is based on switched interval observers and is able to cope with changes of tire operating conditions. The interval estimation algorithm is evaluated through experimental data acquired using an instrumented vehicle. Simulation results show that the developed system can reliably estimate the upper and lower bounds of vehicle Lateral variables during both steady and transient maneuvers.
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ACC - Vehicle Lateral Velocity and Lateral Tire-road Forces Estimation Based on Switched Interval Observers
2020 American Control Conference (ACC), 2020Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Lateral Velocity and tire-road forces are vital signals that affect the stability of a vehicle under cornering. Unfortunately, for both technical and economic reasons, these fundamental vehicle parameters can hardly be measured directly through sensors. As a consequence, an efficient and reliable algorithm for estimating vehicle Lateral Velocity and tire-road forces is needed. This paper presents a novel framework for estimation of vehicle Lateral Velocity and Lateral tire-road forces. The proposed algorithm is based on switched interval observers and is able to cope with changes of tire operating conditions. The interval estimation algorithm is evaluated through experimental data acquired using an instrumented vehicle. Simulation results show that the developed system can reliably estimate the upper and lower bounds of vehicle Lateral variables during both steady and transient maneuvers.
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An Unknown Input Switched Functional Interval Observer for Vehicle Lateral Velocity Estimation
2019Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Functional interval observer of dynamical switched systems provides significant advantages in practical applications. In view of the enlarged order of interval observers, applying interval functional observers can result in lower computational costs and more practicability in some applications such as output feedback control and fault diagnosis of these systems. In this paper, an unknown input functional state interval observer design for a class of switched uncertain systems is investigated. Necessary and sufficient conditions for observer existence are derived. Based on Input to State Stability (ISS) principle and Lyapunov theory, the stability and positivity conditions for the estimation errors are expressed in terms of Linear Matrix Inequalities. A design procedure algorithm of the state observer is given. Finally, the proposed estimation methodology is applied to vehicle Lateral Velocity estimation problem. Simulation results obtained, confirm the good accuracy and robustness of the proposed state estimation concept.
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CDC - An Unknown Input Switched Functional Interval Observer for Vehicle Lateral Velocity Estimation
2019 IEEE 58th Conference on Decision and Control (CDC), 2019Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Functional interval observer of dynamical switched systems provides significant advantages in practical applications. In view of the enlarged order of interval observers, applying interval functional observers can result in lower computational costs and more practicability in some applications such as output feedback control and fault diagnosis of these systems. In this paper, an unknown input functional state interval observer design for a class of switched uncertain systems is investigated. Necessary and sufficient conditions for observer existence are derived. Based on Input to State Stability (ISS) principle and Lyapunov theory, the stability and positivity conditions for the estimation errors are expressed in terms of Linear Matrix Inequalities. A design procedure algorithm of the state observer is given. Finally, the proposed estimation methodology is applied to vehicle Lateral Velocity estimation problem. Simulation results obtained, confirm the good accuracy and robustness of the proposed state estimation concept.
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Robust estimation of vehicle Lateral Velocity and yaw rate using switched T-S fuzzy interval observers
2017 IEEE International Conference on Systems Man and Cybernetics (SMC), 2017Co-Authors: Sara Ifqir, Dalil Ichalal, Ait N. Gufroukh, Saïd MammarAbstract:This paper presents a new robust estimation of the Lateral Velocity and yaw rate using switched Takagi-Sugeno fuzzy interval observers. The longitudinal Velocity is treated as the online measured time-varying parameter and the cornering stiffness at front and rear tires are assumed to be unknown but bounded with a priori known bounds. Based on a multiple model switching structure, this design divides the range of variation of the longitudinal Velocity into a finite number of adjoint regions and, accordingly, develops multiple interval observers for the multiple model set. The switching law which is assumed to be available online selects automatically the appropriate candidate estimator, according to the operation sub-region. Applying the proposed set-approach to estimate the Lateral vehicle dynamics allows to cope with uncertainties and ensures guaranteed bounds on the Lateral Velocity and yaw rate despite changes in tire/road and driving conditions. Sufficient conditions for the existence of the robust proposed observer are expressed in terms of Linear Matrix Inequalities through the use of a switched fuzzy ISS-Lyapunov function. Simulations based on experimental data demonstrate the effectivenesses of the proposed approach.
Dalil Ichalal - One of the best experts on this subject based on the ideXlab platform.
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Vehicle Lateral Velocity and Lateral Tire-road Forces Estimation Based on Switched Interval Observers
2020Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Lateral Velocity and tire-road forces are vital signals that affect the stability of a vehicle under cornering. Unfortunately, for both technical and economic reasons, these fundamental vehicle parameters can hardly be measured directly through sensors. As a consequence, an efficient and reliable algorithm for estimating vehicle Lateral Velocity and tire-road forces is needed. This paper presents a novel framework for estimation of vehicle Lateral Velocity and Lateral tire-road forces. The proposed algorithm is based on switched interval observers and is able to cope with changes of tire operating conditions. The interval estimation algorithm is evaluated through experimental data acquired using an instrumented vehicle. Simulation results show that the developed system can reliably estimate the upper and lower bounds of vehicle Lateral variables during both steady and transient maneuvers.
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ACC - Vehicle Lateral Velocity and Lateral Tire-road Forces Estimation Based on Switched Interval Observers
2020 American Control Conference (ACC), 2020Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Lateral Velocity and tire-road forces are vital signals that affect the stability of a vehicle under cornering. Unfortunately, for both technical and economic reasons, these fundamental vehicle parameters can hardly be measured directly through sensors. As a consequence, an efficient and reliable algorithm for estimating vehicle Lateral Velocity and tire-road forces is needed. This paper presents a novel framework for estimation of vehicle Lateral Velocity and Lateral tire-road forces. The proposed algorithm is based on switched interval observers and is able to cope with changes of tire operating conditions. The interval estimation algorithm is evaluated through experimental data acquired using an instrumented vehicle. Simulation results show that the developed system can reliably estimate the upper and lower bounds of vehicle Lateral variables during both steady and transient maneuvers.
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An Unknown Input Switched Functional Interval Observer for Vehicle Lateral Velocity Estimation
2019Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Functional interval observer of dynamical switched systems provides significant advantages in practical applications. In view of the enlarged order of interval observers, applying interval functional observers can result in lower computational costs and more practicability in some applications such as output feedback control and fault diagnosis of these systems. In this paper, an unknown input functional state interval observer design for a class of switched uncertain systems is investigated. Necessary and sufficient conditions for observer existence are derived. Based on Input to State Stability (ISS) principle and Lyapunov theory, the stability and positivity conditions for the estimation errors are expressed in terms of Linear Matrix Inequalities. A design procedure algorithm of the state observer is given. Finally, the proposed estimation methodology is applied to vehicle Lateral Velocity estimation problem. Simulation results obtained, confirm the good accuracy and robustness of the proposed state estimation concept.
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CDC - An Unknown Input Switched Functional Interval Observer for Vehicle Lateral Velocity Estimation
2019 IEEE 58th Conference on Decision and Control (CDC), 2019Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Functional interval observer of dynamical switched systems provides significant advantages in practical applications. In view of the enlarged order of interval observers, applying interval functional observers can result in lower computational costs and more practicability in some applications such as output feedback control and fault diagnosis of these systems. In this paper, an unknown input functional state interval observer design for a class of switched uncertain systems is investigated. Necessary and sufficient conditions for observer existence are derived. Based on Input to State Stability (ISS) principle and Lyapunov theory, the stability and positivity conditions for the estimation errors are expressed in terms of Linear Matrix Inequalities. A design procedure algorithm of the state observer is given. Finally, the proposed estimation methodology is applied to vehicle Lateral Velocity estimation problem. Simulation results obtained, confirm the good accuracy and robustness of the proposed state estimation concept.
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Robust estimation of vehicle Lateral Velocity and yaw rate using switched T-S fuzzy interval observers
2017 IEEE International Conference on Systems Man and Cybernetics (SMC), 2017Co-Authors: Sara Ifqir, Dalil Ichalal, Ait N. Gufroukh, Saïd MammarAbstract:This paper presents a new robust estimation of the Lateral Velocity and yaw rate using switched Takagi-Sugeno fuzzy interval observers. The longitudinal Velocity is treated as the online measured time-varying parameter and the cornering stiffness at front and rear tires are assumed to be unknown but bounded with a priori known bounds. Based on a multiple model switching structure, this design divides the range of variation of the longitudinal Velocity into a finite number of adjoint regions and, accordingly, develops multiple interval observers for the multiple model set. The switching law which is assumed to be available online selects automatically the appropriate candidate estimator, according to the operation sub-region. Applying the proposed set-approach to estimate the Lateral vehicle dynamics allows to cope with uncertainties and ensures guaranteed bounds on the Lateral Velocity and yaw rate despite changes in tire/road and driving conditions. Sufficient conditions for the existence of the robust proposed observer are expressed in terms of Linear Matrix Inequalities through the use of a switched fuzzy ISS-Lyapunov function. Simulations based on experimental data demonstrate the effectivenesses of the proposed approach.
Naïma Ait-oufroukh - One of the best experts on this subject based on the ideXlab platform.
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Vehicle Lateral Velocity and Lateral Tire-road Forces Estimation Based on Switched Interval Observers
2020Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Lateral Velocity and tire-road forces are vital signals that affect the stability of a vehicle under cornering. Unfortunately, for both technical and economic reasons, these fundamental vehicle parameters can hardly be measured directly through sensors. As a consequence, an efficient and reliable algorithm for estimating vehicle Lateral Velocity and tire-road forces is needed. This paper presents a novel framework for estimation of vehicle Lateral Velocity and Lateral tire-road forces. The proposed algorithm is based on switched interval observers and is able to cope with changes of tire operating conditions. The interval estimation algorithm is evaluated through experimental data acquired using an instrumented vehicle. Simulation results show that the developed system can reliably estimate the upper and lower bounds of vehicle Lateral variables during both steady and transient maneuvers.
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ACC - Vehicle Lateral Velocity and Lateral Tire-road Forces Estimation Based on Switched Interval Observers
2020 American Control Conference (ACC), 2020Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Lateral Velocity and tire-road forces are vital signals that affect the stability of a vehicle under cornering. Unfortunately, for both technical and economic reasons, these fundamental vehicle parameters can hardly be measured directly through sensors. As a consequence, an efficient and reliable algorithm for estimating vehicle Lateral Velocity and tire-road forces is needed. This paper presents a novel framework for estimation of vehicle Lateral Velocity and Lateral tire-road forces. The proposed algorithm is based on switched interval observers and is able to cope with changes of tire operating conditions. The interval estimation algorithm is evaluated through experimental data acquired using an instrumented vehicle. Simulation results show that the developed system can reliably estimate the upper and lower bounds of vehicle Lateral variables during both steady and transient maneuvers.
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An Unknown Input Switched Functional Interval Observer for Vehicle Lateral Velocity Estimation
2019Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Functional interval observer of dynamical switched systems provides significant advantages in practical applications. In view of the enlarged order of interval observers, applying interval functional observers can result in lower computational costs and more practicability in some applications such as output feedback control and fault diagnosis of these systems. In this paper, an unknown input functional state interval observer design for a class of switched uncertain systems is investigated. Necessary and sufficient conditions for observer existence are derived. Based on Input to State Stability (ISS) principle and Lyapunov theory, the stability and positivity conditions for the estimation errors are expressed in terms of Linear Matrix Inequalities. A design procedure algorithm of the state observer is given. Finally, the proposed estimation methodology is applied to vehicle Lateral Velocity estimation problem. Simulation results obtained, confirm the good accuracy and robustness of the proposed state estimation concept.
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CDC - An Unknown Input Switched Functional Interval Observer for Vehicle Lateral Velocity Estimation
2019 IEEE 58th Conference on Decision and Control (CDC), 2019Co-Authors: Sara Ifqir, Dalil Ichalal, Naïma Ait-oufroukh, Saïd MammarAbstract:Functional interval observer of dynamical switched systems provides significant advantages in practical applications. In view of the enlarged order of interval observers, applying interval functional observers can result in lower computational costs and more practicability in some applications such as output feedback control and fault diagnosis of these systems. In this paper, an unknown input functional state interval observer design for a class of switched uncertain systems is investigated. Necessary and sufficient conditions for observer existence are derived. Based on Input to State Stability (ISS) principle and Lyapunov theory, the stability and positivity conditions for the estimation errors are expressed in terms of Linear Matrix Inequalities. A design procedure algorithm of the state observer is given. Finally, the proposed estimation methodology is applied to vehicle Lateral Velocity estimation problem. Simulation results obtained, confirm the good accuracy and robustness of the proposed state estimation concept.
Wei Liu - One of the best experts on this subject based on the ideXlab platform.
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automated vehicle attitude and Lateral Velocity estimation using a 6 d imu aided by vehicle dynamics
IEEE Intelligent Vehicles Symposium, 2018Co-Authors: Xin Xia, Lu Xiong, Wei LiuAbstract:In this paper, an estimation method for attitude and Lateral Velocity for automated vehicle has been proposed using a six degree of freedom inertial measurement unit(IMU) aided by vehicle dynamics. This estimation method makes full use of the advantage of the IMU and vehicle dynamics and could run autonomously without aid from other outside information such as GNSS or camera. Based on Kalman filter theory, three observers have been developed: a kinematic model based attitude observer for pitch angle and roll angle using IMU, a kinematic model based Lateral Velocity observer for Lateral Velocity using IMU and a dynamic model based observer using vehicle dynamics. In small excitation condition, the estimated Lateral Velocity from dynamic model based observer is more reliable and it is forwarded to the two kinematic model based observers to prevent the accumulated estimation error. In larger excitation condition, the two kinematic model based observers run in open-loop mode. Slalom maneuver and double lane change(DLC) maneuvers have been conducted to validate the estimation method. The experiment results have proved the effectiveness of this estimation method.
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Intelligent Vehicles Symposium - Automated Vehicle Attitude and Lateral Velocity Estimation Using a 6-D IMU Aided by Vehicle Dynamics
2018 IEEE Intelligent Vehicles Symposium (IV), 2018Co-Authors: Xia Xin, Lu Xiong, Wei LiuAbstract:In this paper, an estimation method for attitude and Lateral Velocity for automated vehicle has been proposed using a six degree of freedom inertial measurement unit(IMU) aided by vehicle dynamics. This estimation method makes full use of the advantage of the IMU and vehicle dynamics and could run autonomously without aid from other outside information such as GNSS or camera. Based on Kalman filter theory, three observers have been developed: a kinematic model based attitude observer for pitch angle and roll angle using IMU, a kinematic model based Lateral Velocity observer for Lateral Velocity using IMU and a dynamic model based observer using vehicle dynamics. In small excitation condition, the estimated Lateral Velocity from dynamic model based observer is more reliable and it is forwarded to the two kinematic model based observers to prevent the accumulated estimation error. In larger excitation condition, the two kinematic model based observers run in open-loop mode. Slalom maneuver and double lane change(DLC) maneuvers have been conducted to validate the estimation method. The experiment results have proved the effectiveness of this estimation method.
