Homogeneous approximations and local observer design
Résumé
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
Fichier principal
local_observer_homogeneous_approximation_ESAIM_COCV.pdf (474.04 Ko)
Télécharger le fichier
Origine : Fichiers éditeurs autorisés sur une archive ouverte
Loading...