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Communication Dans Un Congrès Année : 2021

$H_\infty$ switched-gain based observer vs nonlinear transformation based observer for a vehicle tracking model

Résumé

The main objective of this paper is to provide a comparison between two nonlinear observer design methods for a vehicle tracking problem based on a kinematic model. This challenging tracking issue is difficult to solve because of the nature of the nonlinearities in the dynamics process, which are all non-monotonic. First, we will extend the switched-gain based approach, established recently in the literature, to systems with disturbances in both the state dynamics and in the output measurements, and investigate its H∞ performance. Then we will introduce a new way to avoid non-monotonic nonlinearities by using a specific nonlinear transformation to bring the system into a suitable form for which available techniques in the literature can be applied. Finally, numerical comparisons between the two design methods are provided, where the H∞ based switched gain observer has better performance with respect to measurement noise.
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hal-03468355 , version 1 (05-01-2024)

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Paternité - Pas d'utilisation commerciale

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Shivaraj Mohite, Ali Zemouche, Madjid Haddad, Marouane Alma, Cédric Delattre, et al.. $H_\infty$ switched-gain based observer vs nonlinear transformation based observer for a vehicle tracking model. 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems, MICNON 2021, Sep 2021, Tokyo, Japan. ⟨10.1016/j.ifacol.2021.10.340⟩. ⟨hal-03468355⟩
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