An I&I Observer-Based Controller With Guaranteed Stability For Vehicles With Roll Dynamics

Abstract

In this note, an observer-based feedback control for tracking trajectories of the yaw and lateral velocities in a vehicle is proposed. The considered model consists of the vehicle’s longitudinal, lateral and yaw velocities dynamics together with its roll dynamics. First, an observer for the vehicle lateral velocity, roll angle and roll velocity is proposed. Its design is based on the well-known Immersion & Invariance technique and Super-Twisting Algorithm. Tuning conditions on the observer gains are given such that the observation errors globally asymptotically converge to zero provided that the yaw velocity reference is persistently excited. Next, a feedback control law depending on the observer estimates is designed using the Output Regulation technique. It is showed that the tracking errors converge to zero as the observation errors decay. To assess the performance of the controller, numerical simulations are performed where the stable operation of the closed-loop system is verified.