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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. doi: 10.1109/tcst.2018.2789461. ISSN 1063-6536.

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

Kurzfassung

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.

elib-URL des Eintrags:https://elib.dlr.de/106034/
Dokumentart:Zeitschriftenbeitrag
Titel:Robust Residual Generator Synthesis for Uncertain LPV Systems Applied to Lateral Vehicle Dynamics
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Ho, Lok ManLok.Ho (at) dlr.dehttps://orcid.org/0000-0002-9023-2520NICHT SPEZIFIZIERT
Datum:2017
Erschienen in:IEEE Transactions on Control Systems Technology
Referierte Publikation:Ja
Open Access:Nein
Gold Open Access:Nein
In SCOPUS:Ja
In ISI Web of Science:Ja
DOI:10.1109/tcst.2018.2789461
Verlag:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1063-6536
Status:veröffentlicht
Stichwörter:integral quadratic constraints, lateral vehicle dynamics, linear parameter-varying, parameter uncertainty, residual generation, robust estimator synthesis
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Verkehr
HGF - Programmthema:Bodengebundener Verkehr (alt)
DLR - Schwerpunkt:Verkehr
DLR - Forschungsgebiet:V BF - Bodengebundene Fahrzeuge
DLR - Teilgebiet (Projekt, Vorhaben):V - Fahrzeugintelligenz (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Systemdynamik und Regelungstechnik > Fahrzeug-Systemdynamik
Hinterlegt von: Ho, Lok Man
Hinterlegt am:14 Sep 2016 10:23
Letzte Änderung:31 Okt 2023 07:22

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