Robust moving horizon estimation for lateral vehicle dynamics
Résumé
This paper deals with the problem of robust stability analysis of Moving Horizon Estimator~(MHE) for Linear Parameter Varying~(LPV) systems. We introduced novel stability analysis tools which guarantee exponential robust convergence of the MHE under the incremental Exponential Input-Output-to-State Stability~(i-EIOSS) assumption without observability condition. An application of the proposed estimation scheme on a steering-controlled lateral vehicle model is provided to show the effectiveness of the proposed estimation scheme.