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Two kinds of observers, the classical extended deterministic Kalman filter and a high gain observer, have been applied to a nonlinear horizontal plane vehicle model. Observability conditions are given. We have shown that uniform local observability can be guaranteed. Finally, the two state estimators are compared and analyzed in simulations.
In this paper, we present a control method based on nonlinear constrained optimization combined with singular perturbation theory, to deal with the problem for a vehicle to brake in a corner with stability. The control laws are elaborated from a simple horizontal model and are shown to be very robust to unmodeled dynamics (such as the vertical dynamics of the car and the suspensions).
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