On the difference between bounded jacobian and lipschitz observers for nonlinear estimation applications

Gridsada Phanomchoeng, Rajesh Rajamani

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

This paper examines the performance of bounded Jacobian and Lipschitz observer design techniques for nonlinear estimation applications. The bounded Jacobian observer technique utilizes the mean value theorem to express the nonlinear estimation error dynamics as a convex combination of known matrices with time varying coefficients. The Lipschitz based observers are the most popular observer design technique used for nonlinear systems. But they are derived from more conservative Lipschitz conditions on the nonlinearity. Both observers are evaluated for longitudinal velocity estimation, vehicle roll angle estimation, and estimation in a polynomial nonlinear system with a large Lipschitz constant. The results show that the bounded Jacobian observer is the more appropriate observer for these problems.

Original languageEnglish (US)
Pages (from-to)395-415
Number of pages21
JournalTransactions of the Canadian Society for Mechanical Engineering
Volume41
Issue number3
DOIs
StatePublished - 2017

Keywords

  • Bounded jacobian
  • Lipschitz
  • Observer design
  • Vehicle applications
  • Vehicle dynamics

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