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Robust Residual Generator Synthesis for Uncertain LPV Systems Applied to Lateral Vehicle Dynamics

Ho, Lok Man (2017) Robust Residual Generator Synthesis for Uncertain LPV Systems Applied to Lateral Vehicle Dynamics. IEEE Transactions on Control Systems Technology. IEEE - Institute of Electrical and Electronics Engineers. ISSN 1063-6536 (Submitted)

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Official URL: http://www.ieeecss.org/publications/tcst

Abstract

In the residual generator design problem, a method to ensure the residual's fault sensitivity is to minimise the difference between the fault-to-residual response and a reference model. However, an inappropriate reference model with unattainable ratios between sensitivities from multiple faults can have a detrimental impact on disturbance decoupling performance. This impact is reduced in the proposed design method for uncertain linear parameter-varying (LPV) systems by optimising these sensitivity ratios. The synthesis method involves solving an induced-L2$ robust estimator synthesis problem, in which parameter uncertainty is handled via integral quadratic constraints. Optimisation of the sensitivity ratios is integrated into the ensuing semi-definite program. The resulting residual generator synthesis method achieves perfect decoupling when this is possible, and more generally improves performance compared to when arbitrary references are used, without the pre-computation of an attainable reference as seen in other approaches. The effectiveness of this method is demonstrated in a vehicle lateral dynamics application and validated using experimental data.

Item URL in elib:https://elib.dlr.de/106034/
Document Type:Article
Title:Robust Residual Generator Synthesis for Uncertain LPV Systems Applied to Lateral Vehicle Dynamics
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ho, Lok ManLok.Ho (at) dlr.dehttps://orcid.org/0000-0002-9023-2520
Date:2017
Journal or Publication Title:IEEE Transactions on Control Systems Technology
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1063-6536
Status:Submitted
Keywords:integral quadratic constraints, lateral vehicle dynamics, linear parameter-varying, parameter uncertainty, residual generation, robust estimator synthesis
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Ho, Lok Man
Deposited On:14 Sep 2016 10:23
Last Modified:08 Mar 2018 18:33

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