제어로봇시스템학회:학술대회논문집
- 1996.10b
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- Pages.892-895
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- 1996
Design of unknown input observer of wheelbase preview control of commercial vehicles
상용 차량의 축거 예견 제어를 위한 미지 입력 관측기 설계
Abstract
An unknown input observer is proposed that can be used in wheelbase preview control of commercial vehicles. The preview and state information, required to calculate actuator force, are reconstructed from the measurement variables such as heave and pitch acceleration. Gain matrix of observer is optimally selected so that influence of system and measurement noises on the estimation error can be minimized. Estimated preview information requires low pass filtering to eliminate high frequency components resulting from differentiation of noisy output signals. Effectiveness of the proposed method is demonstrated by numerical simulation of half car model.