Reduced order unknown input kalman filter: application for vehicle lateral control

Damien Koenig (1) , Said Mammar (2)

1 LAG - Laboratoire d'automatique de Grenoble
2 LIVIC - Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs

A new optimal filtering formula is derived for stochastic linear systems with structured unknown inputs. The main idea consists in finding a robust sub-system of unknown inputs in which the dynamical and output noises are uncorrelated. Thereby the problem is reduced to the sub-state estimation of an unknown inputs-free reduced system, which can be easily dealt with following the well-known Kalman filter theory. After a change of basis, we can then rebuild the state of the original system. The method developed is applied to the lateral control of a vehicle.

Domaines: Automatique

Damien Koenig, Said Mammar. Reduced order unknown input kalman filter: application for vehicle lateral control. IEEE American Control Conference, 2003, Denver, United States. pp.CDROM. ⟨hal-00232847⟩