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

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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 languageEnglish
Title of host publication2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)
DOIs
Publication statusPublished - Sep 2020

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