High gain observers with updated gain and homogeneous correction terms

Vincent Andrieu (1) , Laurent Praly (2) , Alessandro Astolfi (3, 4)

1 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
2 CAS - Centre Automatique et Systèmes
3 Università degli Studi di Roma Tor Vergata [Roma] = University of Rome Tor Vergata
4 Imperial College London

Exploiting dynamic scaling and homogeneity in the bi-limit, we develop a new class of high gain observers which incorporate a gain update law and nonlinear output error injection terms. A broader class of systems can be addressed and the observer gain is better fitted to the incremental rate of the nonlinearities. The expected improved performance is illustrated.

Mots clés: High-gain observers; Homogeneity in the bi-limit; Dynamic scaling

Domaines: Automatique / Robotique

Vincent Andrieu, Laurent Praly, Alessandro Astolfi. High gain observers with updated gain and homogeneous correction terms. Automatica, 2009, 45 (2), pp.422-428. ⟨10.1016/j.automatica.2008.07.015⟩. ⟨hal-00362752⟩