Track Estimation: High-Gain Observer vs. Algebraic Derivative Methods

被引：0
|
作者：
Huber, R. [1 ]
Roebenack, K. [2 ]
Zipser, S. [3 ]
Wagner, S. [3 ]
机构：
[1] Leipzig Univ Appl Sci, Leipzig, Germany
[2] Tech Univ Dresden, Inst Control Theory, Dresden, Germany
[3] Fraunhofer Inst Transportat & Infrastruct Syst IV, Dresden, Germany
来源：
SYSTEMS, AUTOMATION & CONTROL | 2016年 / 1卷
关键词：
High-gain observer; track estimation; observability; sensor fusion; algebraic derivative; NONLINEAR-SYSTEMS; OBSERVABILITY;
D O I：
10.1515/9783110448375-003
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper track estimation algorithms for a multiple articulated vehicle are examined to be used in advanced steering control systems. Therefore a high-gain observer based track estimator is designed for different sensor configurations. The results of an observability analysis are used for the observer design. The accuracy can be improved by the sensor fusion. Furthermore this approach utilizes the existing sensor redundancy for improved fault tolerance. An alternative approach is the use of algebraic derivative methods using the time-derivative estimation of measurement signals.
引用
收藏
页码：19 / 35
页数：17
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