文章基本信息

标题：H ∞ Switched-Gain Based Observer vs Nonlinear Transformation Based Observer for a Vehicle Tracking Model ⁎
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作者：S. Mohite ; A. Zemouche ; M. Haddad 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：14
页码：126-131
DOI：10.1016/j.ifacol.2021.10.340
语种：English
出版社：Elsevier
摘要：AbstractThe 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.
关键词：KeywordsH∞based ObserversNonlinear systemsHybrid systemsLinear matrix inequalitiesNonlinear Transformation