Nonlinear Observer Design Methods Based on High-Gain Methodology and LMIs with Application to Vehicle Tracking

The main objective of this work is to propose a solution to observer design for triangular systems where additional output measurements are available, which may improve the estimation quality. In fact, such additional measurements prevent the standard high-gain observer methodology to provide solutions for the estimation problem. In this paper, motivated by this issue, we propose two novel observer design methods to handle the additional output measurements. The first one can be viewed as an extension of the standard high-gain observer by introducing a weighting matrix as a tuning parameter, while the second method, which can be viewed as an alternative method, exploits jointly the high-gain methodology and the LPV/LMI technique to overcome some limitations related to the first design method. The proposed methods are applied to a vehicle trajectory estimation problem using the well-known kinematic model. The efficiency of the estimation using both proposed methods and a comparative study between them are provided.