Fuzzy Unknown Input Observer Design for Autonomous Ground Vehicles

This paper studies the problem of vehicle state estimation. In view of the longitudinal lateral coupling dynamics and the existence of unknown inputs, a new fuzzy observer design method is proposed based on Takagi-Sugeno (TS) fuzzy control technology to realize the effective estimation of vehicle state. Aiming at the difficulty of observer synthesis of TS fuzzy system with unmeasurable antecedent variables, this paper proposes an N-TS fuzzy modeling method which can effectively avoid unmeasurable antecedent variables by using nonlinear partition method, and explores a new method of fuzzy observer synthesis of nonlinear vehicle system based on this model. This fuzzy modeling not only effectively avoids the appearance of unmeasurable antecedent variables, but also significantly reduces the real-time calculation workload of estimating vehicle variables.