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 Unified H∞ observer for a class of nonlinear Lipschitz systems: application to a real ER automotive suspension
Tác giả hoặc Nhóm tác giả: Thanh-Phong Pham, Olivier Sename, Luc Dugard
Nơi đăng: IEEE control systems letters (Publication of IEEE Control System Society - Publish on IEEE). The contents of this paper have been presented at 58th IEEE Conference on Decision and Control.; Số: 4;Từ->đến trang: 817-822;Năm: 2019
Lĩnh vực: Khoa học công nghệ; Loại: Bài báo khoa học; Thể loại: Quốc tế
TÓM TẮT
This letter presents an extension of thesynthesis of a unified H∞ observer for a specific classof nonlinear systems. The objectives are to decouple theeffects of bounded unknown input disturbances and tominimizethe effects of measurement noises on the estimationerrors of the state variables by using H∞ criterion, whilethe nonlinearity is bounded through a Lipschitz condition.This new method is developed to estimate the dampingforce of an electro-rheological (ER) damper in an automotivesuspension system, and is implemented on theINOVE testbench from GIPSA-Lab (1/5-scaled real vehicle)for real-time performance assessment. Both simulation andexperimental results demonstrate the effectiveness of theproposed observer to estimate the damper force in realtime,face to measurement noises and road disturbances.
ABSTRACT
This letter presents an extension of thesynthesis of a unified H∞ observer for a specific classof nonlinear systems. The objectives are to decouple theeffects of bounded unknown input disturbances and tominimizethe effects of measurement noises on the estimationerrors of the state variables by using H∞ criterion, whilethe nonlinearity is bounded through a Lipschitz condition.This new method is developed to estimate the dampingforce of an electro-rheological (ER) damper in an automotivesuspension system, and is implemented on theINOVE testbench from GIPSA-Lab (1/5-scaled real vehicle)for real-time performance assessment. Both simulation andexperimental results demonstrate the effectiveness of theproposed observer to estimate the damper force in realtime,face to measurement noises and road disturbances.
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