Observer Design of Nonlinear Vehicle System with Unmeasurable Premise Variable

This paper deals with the problem of observer design for autonomous ground vehicles with unmeasurable premise variables. A new design method of fuzzy observer is proposed, which can not only effectively solve the research difficulty of observer synthesis of vehicle TS fuzzy system with unmeasurable premise variables, but also obtain an observer with fewer fuzzy rules, so as to reduce the computational burden of the existing design method and overcome its limitations in complex vehicle control system. Therefore, the nonlinear terms in the vehicle lateral dynamics model are divided into three categories: the measurable nonlinear terms related to longitudinal velocity and yaw velocity, the measurable nonlinear terms unrelated to longitudinal velocity and yaw velocity, and the unmeasurable nonlinear terms related to lateral velocity. Then, they are used as local nonlinear submodels of the vehicle system fuzzy model about the measurable nonlinear terms independent of longitudinal velocity and yaw velocity and the unmeasurable nonlinear terms related to lateral velocity, and only the measurable nonlinear terms related to longitudinal velocity and yaw velocity are used as anther variables of the vehicle fuzzy model. It is effectively solved that the research difficulty of vehicle TS fuzzy system observer with unmeasured premise variables.