학술논문
A Trajectory Based Optimization Approach for Hybrid Observer Design
Document Type
Conference
Source
2023 62nd IEEE Conference on Decision and Control (CDC) Decision and Control (CDC), 2023 62nd IEEE Conference on. :1873-1878 Dec, 2023
Subject
Language
ISSN
2576-2370
Abstract
This paper presents a study on developing a hybrid 3D position observer for a rover with acceleration and relative distance measurements. The observer design utilizes two different methodologies; a Trajectory Based Optimization Design (TBOD) and a Linear Matrix Inequality (LMI) method. We prove that, under the proposed solutions, the boundedness of the estimation error is guaranteed. The performance of the observer is evaluated and compared to a standard EKF using comprehensive Monte Carlo simulations.