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Homogeneous Approximation, Recursive Observer Design, and Output Feedback

Abstract : We introduce two new tools that can be useful in nonlinear observer and output feedback design. The first one is a simple extension of the notion of homogeneous approximation to make it valid both at the origin and at infinity (homogeneity in the bi-limit). Exploiting this extension, we give several results concerning stability and robustness for a homogeneous in the bi-limit vector field. The second tool is a new recursive observer design procedure for a chain of integrator. Combining these two tools, we propose a new global asymptotic stabilization result by output feedback for feedback and feedforward systems.
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Submitted on : Thursday, February 19, 2009 - 10:55:00 AM
Last modification on : Monday, September 26, 2022 - 5:50:32 PM
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Vincent Andrieu, Laurent Praly, Alessandro Astolfi. Homogeneous Approximation, Recursive Observer Design, and Output Feedback. SIAM Journal on Control and Optimization, Society for Industrial and Applied Mathematics, 2008, 47 (4), pp.1814-1850. ⟨10.1137/060675861⟩. ⟨hal-00362707⟩



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