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This paper deals with the problem of robust state estimation for switched LPV continuous-time systems with measurable and unmeasurable scheduling parameters. The switching law is assumed to be uncontrollable but online available, while the unmeasurable varying parameters are assumed to be bounded with a priori known bounds. The proposed approach is based on switched interval observers which provide...
Recent advances towards steer-by-wire technology have promised significant improvements in vehicle handling performance and safety. This technology inspired from aeronautics, consists in replacing the traditional mechanical linkages and/or hydraulic power assist with electrical equivalents. This paper describes the adopted approach for development of a new dynamic model of a Steer-by-wire system with...
In this paper, an observer is proposed for estimating vehicle states which are not available for measurement. A new representation of a nonlinear vehicle model by exact Takagi-Sugeno structure is proposed based on sector nonlinearity approach. It leads to a multiple model with unmeasurable premise variables which constitutes the first contribution of the present paper. As a second contribution, a...
This paper deals with the problem of observer design for vehicle lateral dynamics. The nonlinear model of this last is transformed into Takagi-Sugeno (T-S) formulation by using the sector nonlinearity transformation. The main contribution of this paper is the representation of the vehicle nonlinear model by a T-S model with minimal loss of information (almost exact T-S model). This inevitably leads...
This paper presents a new robot localization method in an indoor environment and enters in the development of an assistance robot for disabled people called the ARPH project. The robot developed is composed of two principal parts: a mobile base for displacement and an embedded MANUS arm to handle objects. Each part is equipped with two kinds of sensors: a camera to have the environment structure and...
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