Homogeneous approximations and local observer design

Tomas Menard (1) , Emmanuel Moulay (2) , Wilfrid Perruquetti (3, 4)

1 Equipe Automatique - Laboratoire GREYC - UMR6072
2 XLIM-SIC - SIC
3 NON-A - Non-Asymptotic estimation for online systems
4 SyNeR - Systèmes Non Linéaires et à Retards

This paper is concerned with the construction of local observers for nonlinear systems without inputs, satisfying an observability rank condition. The aim of this study is, first, to define an homogeneous approximation that keeps the observability property unchanged. This approximation is further used in the synthesis of local observer which is proven to be locally convergent for Lyapunov- stable systems. We compare the performance of the homogeneous approximation observer with the classical linear approximation observer on an example.

Domaines: Automatique / Robotique

Tomas Menard, Emmanuel Moulay, Wilfrid Perruquetti. Homogeneous approximations and local observer design. ESAIM: Control, Optimisation and Calculus of Variations, 2013, 19 (03), pp.906-929. ⟨10.1051/cocv/2012038⟩. ⟨hal-00787926⟩