State Estimation of Longitudinal Vehicle Model Using H∞ LMI-Based Nonlinear Observer

Modern transportation research has given a lot of attention to autonomous vehicles. For the control of these vehicles, the longitudinal states of vehicle dynamics play a critical role. The objective of the article is to develop an LMI-based nonlinear observer which estimates the states of vehicles under the presence of disturbance. To achieve this, the observer proposed in [1] is extended by using the H ∞ criterion, and a new LMI condition is derived. Further, the proposed observer is implemented and validated on a third-order “Position-VelocityAcceleration” nonlinear autonomous vehicle model.