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We consider the problem of observer design for systems with periodic disturbances in the system outputs. Assuming that the period T of the disturbance is known, we introduce the idea of mixing past and present output data to remove the disturbance, by defining a new output as the difference between the original output at time t and at time t-T .We determine the exact conditions under which the system...
We consider systems that can be described by a linear part with a nonlinear perturbation, where the perturbation is parameterized by a vector of unknown, constant parameters. Under a set of technical assumptions about the perturbation and its relationship to the outputs, we present a modular observer design technique. The observers produced by this design technique consist of a modified high-gain...
We extend an observer design for estimation of the vehicle sideslip angle on horizontal surfaces to include estimation of the road inclination angle and the road bank angle. The design makes use of a nonlinear road-tire friction model, and the nonlinearity of the road-tire friction forces are taken into account in the theoretical analysis of the design. Using an absolute-stability argument we show...
We introduce a procedure written in the mathematics software suite Maple, which transforms linear time-invariant systems to a special coordinate basis that reveals the internal structure of the system. The procedure creates exact decompositions, based on matrices that contain elements represented by symbolic variables or exact fractions. The procedure is meant as a complement to numerical software...
The objective of this article is to develop a vehicle sideslip observer that takes the nonlinearities of the system into account, both in the theoretical analysis and the design. The design goals include reduction of the computational complexity compared to the EKF, to make the observer suitable for implementation in the embedded hardware, and a reduction in the number of tuning parameters compared...
A nonlinear observer for lateral velocity of an automotive vehicle is extended for robustness with respect to unknown road surface conditions. The observer uses a friction model parametrized with the maximum road-tire friction coefficient, and an adaptive parameter update law is designed for estimation of this coefficient. The adaptive nonlinear observer is proven to be uniformly globally asymptotically...
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