Distributed nonlinear estimation of vehicle states and tire forces with stability guarantees

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-01-25 DOI:10.1016/j.conengprac.2025.106264

Zipeng Yang, Linhui Zhao

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引用次数: 0

Abstract

Accurate information of vehicles and tires are vital for various vehicle technologies, but the state estimation of a high-order nonlinear vehicle-tire system is always a challenge. To tackle this issue, this paper proposes a distributed estimation method to observe vehicle and tire states, such as the velocities and tire forces. Firstly, the complex vehicle-tire dynamics is modelled. Then a distributed observer structure is proposed, which forms an interconnected system consisting of four subsystems. The stability of the observer system is proved using Lyapunov's stability theory in two steps. The first step analyses the stability of each individual subsystem, and the second proves the stability of the interconnected system as a whole. Meanwhile, the range of observer gains is determined during the process of stability proof. Finally, the performance of the distributed observer is validated through both software and hardware-in-loop simulation. The simulation results demonstrate that the proposed distributed estimation method achieves both high accuracy and efficiency.

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.