DocumentCode
697182
Title
A comparison study of two kinds of observers for a vehicle
Author
Pengov, M. ; d´Andrea-Novel, B. ; Fenaux, E. ; Grazi, S. ; Zarka, F.
Author_Institution
Ecole des Mines de Paris - Centre de Robot., Paris, France
fYear
2001
fDate
4-7 Sept. 2001
Firstpage
1068
Lastpage
1073
Abstract
Two kinds of observers, the classical extended deterministic Kalman filter and a high gain observer, have been applied to a nonlinear horizontal plane vehicle model. Observability conditions are given. We have shown that uniform local observability can be guaranteed. Finally, the two state estimators are compared and analyzed in simulations.
Keywords
Kalman filters; automobiles; nonlinear filters; observability; observers; road traffic control; state estimation; automotive systems; classical extended deterministic Kalman filter; high gain observer; nonlinear horizontal plane vehicle model; observability conditions; state estimator; uniform local observability; Computational modeling; Kalman filters; Observability; Observers; Vectors; Vehicles; Wheels; Automotive Systems; Non-linear Observers; Observability;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2001 European
Conference_Location
Porto
Print_ISBN
978-3-9524173-6-2
Type
conf
Filename
7076056
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