High-gain like observer design for nonlinear systems applied to vehicle motion estimation
Résumé
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 two novel observer design methods to handle the additional output measurements. The first method can be thought of as an extension of the standard high-gain observer by introducing a weighting matrix as a tuning parameter. The second method, however, which uses both the high-gain methodology and the LPV/LMI technique, is proposed to overcome some limitations associated with the first design method. To proposed two approaches were applied to a nonlinear longitudinal dynamic model that uses extra measurement information, in addition to the measured longitudinal position of the vehicle.