High-Gain Like Observer Design for Nonlinear Systems Applied to Vehicle Motion Estimation

Hichem Bessafa; C. Delattre; Z. Belkhatir; A. Zemouche; R. Rajamani

doi:10.1016/j.ifacol.2023.10.495

High-Gain Like Observer Design for Nonlinear Systems Applied to Vehicle Motion Estimation

Hichem Bessafa, C. Delattre, Z. Belkhatir, A. Zemouche, R. Rajamani

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This work investigates the problem of state estimation for nonlinear triangular systems having additional output measurements. The main objective of this paper is to propose observer design strategies that account for the available additional information, which is difficult to consider using the standard high-gain observer methodology. To deal with this challenge, we propose a novel observer design method to handle the additional output measurements. This method can be thought of as an extension of the standard high-gain observer by introducing a weighting matrix as a tuning parameter, which uses both the high-gain methodology and the LPV/LMI technique. The proposed approach was applied to a nonlinear longitudinal dynamic model that uses extra measurement information, in addition to the measured longitudinal position of the vehicle.

Original language	English (US)
Title of host publication	IFAC-PapersOnLine
Editors	Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita
Publisher	Elsevier B.V.
Pages	5673-5678
Number of pages	6
Edition	2
ISBN (Electronic)	9781713872344
DOIs	https://doi.org/10.1016/j.ifacol.2023.10.495
State	Published - Jul 1 2023
Event	22nd IFAC World Congress - Yokohama, Japan Duration: Jul 9 2023 → Jul 14 2023

Publication series

Name	IFAC-PapersOnLine
Number	2
Volume	56
ISSN (Electronic)	2405-8963

Conference

Conference	22nd IFAC World Congress
Country/Territory	Japan
City	Yokohama
Period	7/9/23 → 7/14/23

Bibliographical note

Publisher Copyright:
Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)

Keywords

Autonomous Vehicles
High-gain observer
LPV/LMI observer
Longitudinal dynamic model
Observer design

Publisher link

10.1016/j.ifacol.2023.10.495

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High-Gain Like Observer Design for Nonlinear Systems Applied to Vehicle Motion Estimation. / Bessafa, Hichem; Delattre, C.; Belkhatir, Z. et al.
IFAC-PapersOnLine. ed. / Hideaki Ishii; Yoshio Ebihara; Jun-ichi Imura; Masaki Yamakita. 2. ed. Elsevier B.V., 2023. p. 5673-5678 (IFAC-PapersOnLine; Vol. 56, No. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Bessafa, H, Delattre, C, Belkhatir, Z, Zemouche, A & Rajamani, R 2023, High-Gain Like Observer Design for Nonlinear Systems Applied to Vehicle Motion Estimation. in H Ishii, Y Ebihara, J Imura & M Yamakita (eds), IFAC-PapersOnLine. 2 edn, IFAC-PapersOnLine, no. 2, vol. 56, Elsevier B.V., pp. 5673-5678, 22nd IFAC World Congress, Yokohama, Japan, 7/9/23. https://doi.org/10.1016/j.ifacol.2023.10.495

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High-Gain Like Observer Design for Nonlinear Systems Applied to Vehicle Motion Estimation

Abstract

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