A comparison study of two kinds of observers for a vehicle

  title={A comparison study of two kinds of observers for a vehicle},
  author={Marco Pengov and Brigitte d'Andr{\'e}a-Novel and E. Fenaux and Silvia Grazi and F. Zarka},
  journal={2001 European Control Conference (ECC)},
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. 

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