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Switched Observer Design For a Class of Locally Unobservable Time-Varying Systems

Stanislav Aranovskiy 1 Denis Efimov 2 Dmitry Sokolov 3 Jian Wang 4 Igor Ryadchikov 5 Alexey Bobtsov 6
2 VALSE - Finite-time control and estimation for distributed systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
3 PIXEL - Structurer des formes géométriques
Inria Nancy - Grand Est, LORIA - ALGO - Department of Algorithms, Computation, Image and Geometry
Abstract : We consider the problem of state estimation for a parameter-varying system that is unobservable for some values of timevarying parameters. The set of parameter values is divided into a finite number of subsets for which the system is observable, and a switched observer is proposed. A dwell-time condition is defined that ensures exponential convergence. The conditions of stability are formulated in the form of matrix inequalities, which can be used for gains tuning. The obtained theoretical results are supported with an illustrative example and experimental studies for a reaction-wheel pendulum testbench.
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https://hal.archives-ouvertes.fr/hal-03273675
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Submitted on : Tuesday, June 29, 2021 - 2:26:29 PM
Last modification on : Tuesday, January 11, 2022 - 3:14:44 AM
Long-term archiving on: : Thursday, September 30, 2021 - 7:02:44 PM

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Stanislav Aranovskiy, Denis Efimov, Dmitry Sokolov, Jian Wang, Igor Ryadchikov, et al.. Switched Observer Design For a Class of Locally Unobservable Time-Varying Systems. Automatica, Elsevier, 2021, 130, pp.109715. ⟨10.1016/j.automatica.2021.109715⟩. ⟨hal-03273675⟩

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