A MIMO discrete time observer for unicycle mobile vehicles

An asymptotic discrete-time, time-varying state observer for the dynamic model of a unicycle mobile vehicle is proposed. The observer is composed of two blocks, addressing separately the two subsystems constituting the vehicle. Such subsystems are: i) orientation subsystem; ii) position subsystem. This is allowed by a structural characteristic of the vehicle model. By imposing the dead-beat requirement to the orientation observer, whose evolution is independent of the other, convergence is ensured. Therefore the position observer can use exact orientation measurements after a short transient. The asymptotic stability of the two observers is proved.