Abstract
Nonlinear systems can be poorly or non-observable along specific state and output trajectories or in certain regions of the state space. Operating the system along such trajectories or in such regions can lead to poor state estimates being provided by an observer. Such trajectories should be avoided if used for state feedback control or monitoring purposes. In this paper, we outline a possible approach to avoid weakly observable trajectories in the frame of nonlinear model predictive control (NMPC). To illustrate the practical relevance and applicability, the proposed controller is used for an emergency collision avoidance maneuver for passenger cars.
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