<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-04278795</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-16T17:13:22+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Joint Estimation of Nonlinear Dynamics and Resistance Torque for Integrated Motor-Transmission Systems via Switched ℓ ∞ Observers With Smoothness Guarantee</title>
            <author role="aut">
              <persName>
                <forename type="first">Juntao</forename>
                <surname>Pan</surname>
              </persName>
              <idno type="idhal" notation="numeric">1306074</idno>
              <idno type="halauthorid" notation="string">2323038-1306074</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-9978-1166</idno>
              <affiliation ref="#struct-522285"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Tran Anh-Tu</forename>
                <surname>Nguyen</surname>
              </persName>
              <email type="md5">2750e09153bfb2f897e601f64a4b8bdf</email>
              <email type="domain">gmail.com</email>
              <ptr type="url" target="https://sites.google.com/view/anh-tu-nguyen"/>
              <idno type="idhal" notation="string">anh-tu</idno>
              <idno type="idhal" notation="numeric">9183</idno>
              <idno type="halauthorid" notation="string">27825-9183</idno>
              <idno type="IDREF">https://www.idref.fr/175312885</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=eE6A1aIAAAAJ&amp;hl=fr</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-9636-3927</idno>
              <idno type="VIAF">https://viaf.org/viaf/306311882</idno>
              <affiliation ref="#struct-1067790"/>
              <affiliation ref="#struct-1051411"/>
              <affiliation ref="#struct-1001263"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Weilong</forename>
                <surname>Lai</surname>
              </persName>
              <idno type="halauthorid">2948892-0</idno>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Xiaoyuan</forename>
                <surname>Zhu</surname>
              </persName>
              <idno type="idhal" notation="numeric">1306075</idno>
              <idno type="halauthorid" notation="string">2948893-1306075</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-7012-5237</idno>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Hailong</forename>
                <surname>Huang</surname>
              </persName>
              <idno type="idhal" notation="numeric">1306076</idno>
              <idno type="halauthorid" notation="string">2948894-1306076</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-2667-6423</idno>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Anh-Tu</forename>
                <surname>Nguyen</surname>
              </persName>
              <email type="md5">2750e09153bfb2f897e601f64a4b8bdf</email>
              <email type="domain">gmail.com</email>
            </editor>
            <funder ref="#projanr-53699"/>
            <funder ref="#projanr-57029"/>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2023-11-25 21:53:17</date>
              <date type="whenModified">2026-02-20 15:34:02</date>
              <date type="whenReleased">2023-11-29 11:38:19</date>
              <date type="whenProduced">2023-11</date>
              <date type="whenEndEmbargoed">2023-11-25</date>
              <ref type="file" target="https://uphf.hal.science/hal-04278795v1/document">
                <date notBefore="2023-11-25"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://uphf.hal.science/hal-04278795v1/file/IMT_Syst_FINAL.pdf" id="file-4307177-3756549">
                <date notBefore="2023-11-25"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="440357">
                <persName>
                  <forename>Anh-Tu</forename>
                  <surname>Nguyen</surname>
                </persName>
                <email type="md5">2750e09153bfb2f897e601f64a4b8bdf</email>
                <email type="domain">gmail.com</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-04278795</idno>
            <idno type="halUri">https://uphf.hal.science/hal-04278795</idno>
            <idno type="halBibtex">pan:hal-04278795</idno>
            <idno type="halRefHtml">&lt;i&gt;IEEE Transactions on Systems, Man, and Cybernetics: Systems&lt;/i&gt;, 2023, 53 (11), pp.7280-7291. &lt;a target="_blank" href="https://dx.doi.org/10.1109/TSMC.2023.3297064"&gt;&amp;#x27E8;10.1109/TSMC.2023.3297064&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023, 53 (11), pp.7280-7291. &amp;#x27E8;10.1109/TSMC.2023.3297064&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-4307177-3756549"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="UNIV-VALENCIENNES">Université de Valenciennes et du Hainaut-Cambresis</idno>
            <idno type="stamp" n="INSA-GROUPE">Groupe INSA</idno>
            <idno type="stamp" n="ANR">ANR</idno>
            <idno type="stamp" n="LAMIH" corresp="UNIV-VALENCIENNES">Laboratoire d’Automatique, de Mécanique et d’Informatique Industrielles et Humaines</idno>
            <idno type="stamp" n="INSA-HAUTS-DE-FRANCE" corresp="UNIV-VALENCIENNES">INSA Institut National des Sciences Appliquées Hauts-de-France</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Joint Estimation of Nonlinear Dynamics and Resistance Torque for Integrated Motor-Transmission Systems via Switched ℓ ∞ Observers With Smoothness Guarantee</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Juntao</forename>
                    <surname>Pan</surname>
                  </persName>
                  <idno type="idhal" notation="numeric">1306074</idno>
                  <idno type="halauthorid" notation="string">2323038-1306074</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-9978-1166</idno>
                  <affiliation ref="#struct-522285"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Tran Anh-Tu</forename>
                    <surname>Nguyen</surname>
                  </persName>
                  <email type="md5">2750e09153bfb2f897e601f64a4b8bdf</email>
                  <email type="domain">gmail.com</email>
                  <ptr type="url" target="https://sites.google.com/view/anh-tu-nguyen"/>
                  <idno type="idhal" notation="string">anh-tu</idno>
                  <idno type="idhal" notation="numeric">9183</idno>
                  <idno type="halauthorid" notation="string">27825-9183</idno>
                  <idno type="IDREF">https://www.idref.fr/175312885</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=eE6A1aIAAAAJ&amp;hl=fr</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-9636-3927</idno>
                  <idno type="VIAF">https://viaf.org/viaf/306311882</idno>
                  <affiliation ref="#struct-1067790"/>
                  <affiliation ref="#struct-1051411"/>
                  <affiliation ref="#struct-1001263"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Weilong</forename>
                    <surname>Lai</surname>
                  </persName>
                  <idno type="halauthorid">2948892-0</idno>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Xiaoyuan</forename>
                    <surname>Zhu</surname>
                  </persName>
                  <idno type="idhal" notation="numeric">1306075</idno>
                  <idno type="halauthorid" notation="string">2948893-1306075</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-7012-5237</idno>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Hailong</forename>
                    <surname>Huang</surname>
                  </persName>
                  <idno type="idhal" notation="numeric">1306076</idno>
                  <idno type="halauthorid" notation="string">2948894-1306076</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-2667-6423</idno>
                </author>
              </analytic>
              <monogr>
                <idno type="halJournalId" status="VALID">109067</idno>
                <idno type="issn">2168-2216</idno>
                <idno type="eissn">2168-2232</idno>
                <title level="j">IEEE Transactions on Systems, Man, and Cybernetics: Systems</title>
                <imprint>
                  <publisher>Institute of Electrical and Electronics Engineers</publisher>
                  <biblScope unit="volume">53</biblScope>
                  <biblScope unit="issue">11</biblScope>
                  <biblScope unit="pp">7280-7291</biblScope>
                  <date type="datePub">2023-11</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1109/TSMC.2023.3297064</idno>
              <ref type="publisher">https://ieeexplore.ieee.org/document/10210583</ref>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">unknown input (UI)</term>
                <term xml:lang="en">torque estimation</term>
                <term xml:lang="en">switched nonlinear observer</term>
                <term xml:lang="en">smoothness guarantee</term>
                <term xml:lang="en">powertrain system</term>
                <term xml:lang="en">Integrated motor-transmission (IMT) system</term>
              </keywords>
              <classCode scheme="halDomain" n="info.info-au">Computer Science [cs]/Automatic Control Engineering</classCode>
              <classCode scheme="halTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halOldTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halTreeTypology" n="ART">Journal articles</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>The information of the shaft torque and the resistance torque is crucial to develop advanced control and fault diagnosis/detection schemes for electrified powertrain systems. However, reliable physical sensors for torque measurement are not affordable for commercial vehicle applications. This article investigates the simultaneous estimation problem of the state dynamics and the resistance torque for integrated motor-transmission (IMT) systems of electric vehicles. To this end, the IMT system is first reformulated as a nonlinear switched model, where the resistance torque is considered as an unknown input (UI). This modeling reformulation allows taking into account not only the nonlinear nature of IMT dynamics but especially also the intrinsic discontinuity of the gear-shifting process. Then, we propose a nonlinear switched observer (NSO) structure to simultaneously estimate the nonlinear IMT dynamics, thus the shaft torque, and the unknown resistance torque. The observer design does not require any a priori information on the unknown resistance torque as for the classical proportional-integral observer design, nor the well-known matching condition for UI decoupling techniques. Using the Lyapunov stability theory, we derive sufficient conditions, expressed in terms of linear matrix inequality (LMI) constraints, to design an NSO with a guaranteed ℓ∞ performance to mitigate the negative effect of sensor noises and disturbances. In particular, we propose to incorporate LMI-based bumps limitation conditions in the optimization-based observer design to reduce the impacts of expressive discontinuities at switching instants. Comparative studies are performed between the related estimation methods to show the practical effectiveness of the proposed solution.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="institution" xml:id="struct-522285" status="VALID">
          <orgName>North Minzu University</orgName>
          <desc>
            <address>
              <country key="CN"/>
            </address>
          </desc>
        </org>
        <org type="laboratory" xml:id="struct-1067790" status="VALID">
          <idno type="IdRef">050705253</idno>
          <idno type="ISNI">0000000122013679</idno>
          <idno type="RNSR">201220427F</idno>
          <idno type="ROR">https://ror.org/006z7v557</idno>
          <orgName>Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201</orgName>
          <orgName type="acronym">LAMIH</orgName>
          <date type="start">2020-01-01</date>
          <desc>
            <address>
              <addrLine>LE MONT HOUY 59313 VALENCIENNES CEDEX 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.uphf.fr/LAMIH</ref>
          </desc>
          <listRelation>
            <relation name="UMR8201" active="#struct-441569" type="direct"/>
            <relation active="#struct-1001263" type="direct"/>
            <relation active="#struct-1051411" type="direct"/>
            <relation active="#struct-301232" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-1051411" status="VALID">
          <orgName>INSA Institut National des Sciences Appliquées Hauts-de-France</orgName>
          <orgName type="acronym">INSA Hauts-De-France</orgName>
          <date type="start">2019-09-09</date>
          <desc>
            <address>
              <addrLine>Voirie Communale Université Val Mont Houy, 59300 Aulnoy-Lez-Valenciennes</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.groupe-insa.fr/decouvrir/nos-ecoles/insa-hauts-de-france</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301232" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-1001263" status="VALID">
          <idno type="IdRef">242335675</idno>
          <idno type="ROR">https://ror.org/02ezch769</idno>
          <orgName>Université Polytechnique Hauts-de-France</orgName>
          <orgName type="acronym">UPHF</orgName>
          <date type="start">2019-09-09</date>
          <desc>
            <address>
              <addrLine>Campus Mont Houy59313 Valenciennes Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.uphf.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-301232" status="VALID">
          <idno type="IdRef">162105150</idno>
          <orgName>Institut National des Sciences Appliquées</orgName>
          <orgName type="acronym">INSA</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
      </listOrg>
      <listOrg type="projects">
        <org type="anrProject" xml:id="projanr-53699" status="VALID">
          <idno type="anr">ANR-19-CE22-0009</idno>
          <orgName>CoCoVeIA</orgName>
          <desc>Coopération Conducteur-Véhicule Intelligent Autonome</desc>
          <date type="start">2019</date>
        </org>
        <org type="anrProject" xml:id="projanr-57029" status="VALID">
          <idno type="anr">ANR-21-CE48-0021</idno>
          <orgName>HM-Science</orgName>
          <desc>Contrôle partagé Humain-Machine vers une sécurité et une énergie intelligentes des véhicules</desc>
          <date type="start">2021</date>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>