Robust Moving Horizon Estimation for Lateral Vehicle Dynamics

This paper deals with the problem of robust stability analysis of Moving Horizon Estimator (MHE) for Linear Parameter Varying (LPV) systems. We introduced novel stability analysis tools which guarantee exponential robust convergence of the MHE under the incremental Exponential Input-Output-to-State Stability (i-EIOSS) assumption without observability condition. An application on a steering-controlled lateral vehicle model is provided to show the effectiveness of the proposed estimation scheme.