Title :
Reduced order unknown input Kalman filter: application for vehicle lateral control
Author :
Koenig, D. ; Mammar, S.
Author_Institution :
Lab. d´´Automatique de Grenoble, St. Martin d´´Heres, France
Abstract :
A new optimal filtering formula is derived for stochastic linear systems with structured unknown inputs. The main idea consists in finding a robust sub-system of unknown inputs in which the dynamical and output noises are uncorrelated. Thereby the problem is reduced to the sub-state estimation of an unknown inputs-free reduced system, which can be easily dealt with following the well-known Kalman filter theory. After a change of basis, we can then rebuild the state of the original system. The method developed is applied to the lateral control of a vehicle.
Keywords :
Kalman filters; filtering theory; linear systems; position control; reduced order systems; road vehicles; state estimation; stochastic systems; Kalman filter theory; robust subsystem; stochastic linear systems; structured unknown inputs; unknown inputs-free reduced system; vehicle lateral control; Automatic control; Control systems; Covariance matrix; Filtering; State estimation; Stochastic systems; Time varying systems; Uncertainty; Vectors; Vehicles;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1240523