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
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;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
