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A high-gain observer vs. algebraic derivative methods for track estimation

: Huber, Robert; Zipser, Stephan; Wagner, Sebastian; Röbenack, Klaus


Institute of Electrical and Electronics Engineers -IEEE-:
9th International Multi-Conference on Systems, Signals and Devices, SSD 2012 : 20 - 23 March 2012; Enhält 4 Teil-Konferenzen: International Conference on Systems, Analysis & Automatic Control (SAC); International Conference on Power Electrical Systems (PES); International Conference on Communication & Signal Processing (CSP); Conference on Sensors, Circuits & Instrumentation Systems (SCI)
New York, NY: IEEE, 2012
ISBN: 978-1-4673-1589-0
ISBN: 978-1-4673-1590-6
6 S.
International Multi-Conference on Systems, Signals and Devices (SSD) <9, 2012, Chemnitz>
Conference on Systems, Analysis and Automatic Control (SAC) <2012, Chemnitz>
Conference on Power Electrical Systems (PES) <2012, Chemnitz>
Conference on Communication and Signal Processing (CSP) <2012, Chemnitz>
Conference on Sensors, Circuits and Instrumentation Systems (SCI) <2012, Chemnitz>
Fraunhofer IVI ()
high-gain observer; track estimation; observability; sensor fusion

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 algebraic derivative methods using the time-derivative estimation of measurement signals.