State Observers for Terrain Mobility Controls: A Technical Analysis

  • Vladimir Vantsevich
  • David Gorsich
  • Andriy Lozynskyy
  • Lyubomyr Demkiv
  • Taras BorovetsEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


Some sensors in electronic controls may be not available or not feasible for terrain vehicle applications due to severe environmental conditions. The ultimate goal of this paper is to study and demonstrate a possibility to reduce the dependence of terrain mobility controls from sensors. The approach is based on designing reliable observers that can provide robust information for mobility estimation and control systems.

A comparative computational analysis is presented for the following four observers: Extended Kalman filter (EKF), unscented Kalman filter (UKF), particle filter (PF), and Luenberger observer (LO). The observers’ models were integrated in a closed-loop of a real-time feedback controller, which effectiveness was tested in the presence of unknown terrain disturbances and a noise of sensors. The observer-based control system with the state feedback controller is less sensitive to sensor noise than the control system with the sensors that produce states values. EKF, UKF, PF showed more robust results to disturbances than LO. In particular, PF is more robust to sensor noise than the other observers at high levels of noise.


State Observers Locomotion Module Terrain Mobility 


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This study has been supported by a grant of the NATO Science for Peace and Security Programme: MYP SPS G5167 “Agile Tyre Mobility for Severe Terrain Environments”.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Vladimir Vantsevich
    • 1
  • David Gorsich
    • 2
  • Andriy Lozynskyy
    • 3
  • Lyubomyr Demkiv
    • 3
  • Taras Borovets
    • 3
    Email author
  1. 1.The University of Alabama at BirminghamBirminghamUSA
  3. 3.National University “Lviv Polytechnic”L’vivs’ka oblastUkraine

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