Central suboptimal H∞ filtering for nonlinear polynomial systems with multiplicative noise
ABSTRACT This paper presents the central finite-dimensional H∞ filter for nonlinear polynomial systems with multiplicative noise, that is suboptimal for a given threshold γ with respect to a modified Bolza–Meyer quadratic criterion including the attenuation control term with the opposite sign. In contrast to the previously obtained results, the paper reduces the original H∞ filtering problem to the corresponding optimal H2 filtering problem, using the technique proposed in . The paper presents the central suboptimal H∞ filter for the general case of nonlinear polynomial systems with multiplicative noise, based on the optimal H2 filter given in . The central suboptimal H∞ filter is also derived in a closed finite-dimensional form for third (and less) degree polynomial system states. Numerical simulations are conducted to verify performance of the designed central suboptimal filter for nonlinear polynomial systems against the central suboptimal H∞ filters available for polynomial systems with state-independent noise and the corresponding linearized system.
Conference Paper: A robust observer designed for vehicle lateral motion estimation[Show abstract] [Hide abstract]
ABSTRACT: Lateral control of vehicles on automated highways often requires accurate estimation of sideslip angle, yaw rate and lateral velocity, which are difficult to measure directly. Thus, several observers (virtual sensors) were developed in the last decade. In order to solve the unhandled estimation inaccuracy problem caused by system parameter variation and/or model uncertainty, a robust observer has been proposed in this paper. It maintains the good disturbance rejection property that derived form previous research, and simultaneously provides acceptable tolerance to model variance and uncertainty. Specially, effects of displacements of sensory, dynamics variance caused by mass/velocity/friction-coefficients change or nonlinear characteristics are studied. Simulations demonstrate the usefulness of the proposed observer.Intelligent Vehicles Symposium, 2005. Proceedings. IEEE; 07/2005
Conference Paper: VisionSense: an advanced lateral collision warning system[Show abstract] [Hide abstract]
ABSTRACT: VisionSense is an advanced driver assistance system which combines a lateral collision warning system with vehicle-to-vehicle communication. This paper shows the results of user needs assessment and traffic safety modelling of VisionSense. User needs were determined by means of a Web-based survey. The results show, that VisionSense is most appreciated when it uses a light signal to warn the driver in a possibly hazardous situation on a highway. The willingness to pay is estimated at 300 Euros. Another conclusion based on the survey is that frequent car users want less assistance than less frequent drivers. Besides the user needs the impact on traffic safety is modelled. The results are indicative and more research has to be done. Traffic safety effects of VisionSense on a highway were modelled by means of a microscopic car following and lane change algorithm. Twelve different traffic scenarios were modelled with and without VisionSense. With VisionSense no traffic conflicts occur due to lane changing and less lane changes are performed. VisionSense is a system that can improve traffic safety in the future.Intelligent Vehicles Symposium, 2005. Proceedings. IEEE; 07/2005