LMI-based Nonlinear State Observer for Vehicle Motion Tracking in Lane Change Manoeuvre

Chao Huang; Hailong Huang; Chen Lv

doi:10.1109/ITSC45102.2020.9294707

LMI-based Nonlinear State Observer for Vehicle Motion Tracking in Lane Change Manoeuvre

Chao Huang, Hailong Huang, Chen Lv

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

Abstract

This paper provides a nonlinear observer for vehicle motion tracking system in lane change manoeuvre. Firstly, the vehicle body axis system is designed and the nonlinear vehicle motion dynamics is then studied. By using differential mean value theorem and introducing vehicle's uncertainties, a nonlinear observer is designed and a estimation error system is developed. Applying the Lyapunov theory and Linear Matrix Inequality (LMI), the designed observer gains are obtained. Stability, effectiveness and potency of the theoretical results are confirmed in lane change manoeuvre by the simulation results.

Original language	English
Title of host publication	2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)
DOIs	https://doi.org/10.1109/ITSC45102.2020.9294707
Publication status	Published - Sept 2020
Externally published	Yes

More information

10.1109/ITSC45102.2020.9294707

Cite this

@inproceedings{56a90b950b504998ac40628993627577,

title = "LMI-based Nonlinear State Observer for Vehicle Motion Tracking in Lane Change Manoeuvre",

abstract = "This paper provides a nonlinear observer for vehicle motion tracking system in lane change manoeuvre. Firstly, the vehicle body axis system is designed and the nonlinear vehicle motion dynamics is then studied. By using differential mean value theorem and introducing vehicle's uncertainties, a nonlinear observer is designed and a estimation error system is developed. Applying the Lyapunov theory and Linear Matrix Inequality (LMI), the designed observer gains are obtained. Stability, effectiveness and potency of the theoretical results are confirmed in lane change manoeuvre by the simulation results.",

author = "Chao Huang and Hailong Huang and Chen Lv",

year = "2020",

month = sep,

doi = "10.1109/ITSC45102.2020.9294707",

language = "English",

booktitle = "2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)",

}

LMI-based Nonlinear State Observer for Vehicle Motion Tracking in Lane Change Manoeuvre. / Huang, Chao; Huang, Hailong; Lv, Chen.
2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC). 2020.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

TY - GEN

T1 - LMI-based Nonlinear State Observer for Vehicle Motion Tracking in Lane Change Manoeuvre

AU - Huang, Chao

AU - Huang, Hailong

AU - Lv, Chen

PY - 2020/9

Y1 - 2020/9

N2 - This paper provides a nonlinear observer for vehicle motion tracking system in lane change manoeuvre. Firstly, the vehicle body axis system is designed and the nonlinear vehicle motion dynamics is then studied. By using differential mean value theorem and introducing vehicle's uncertainties, a nonlinear observer is designed and a estimation error system is developed. Applying the Lyapunov theory and Linear Matrix Inequality (LMI), the designed observer gains are obtained. Stability, effectiveness and potency of the theoretical results are confirmed in lane change manoeuvre by the simulation results.

AB - This paper provides a nonlinear observer for vehicle motion tracking system in lane change manoeuvre. Firstly, the vehicle body axis system is designed and the nonlinear vehicle motion dynamics is then studied. By using differential mean value theorem and introducing vehicle's uncertainties, a nonlinear observer is designed and a estimation error system is developed. Applying the Lyapunov theory and Linear Matrix Inequality (LMI), the designed observer gains are obtained. Stability, effectiveness and potency of the theoretical results are confirmed in lane change manoeuvre by the simulation results.

U2 - 10.1109/ITSC45102.2020.9294707

DO - 10.1109/ITSC45102.2020.9294707

M3 - Conference article published in proceeding or book

BT - 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)

ER -

LMI-based Nonlinear State Observer for Vehicle Motion Tracking in Lane Change Manoeuvre

Abstract

More information

Fingerprint

Cite this