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Generalized Homogenization of Linear Observers: Theory and Experiment

Siyuan Wang 1 Andrey Polyakov 1 Gang Zheng 2
1 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
2 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : A procedure of upgrading a linear observer to homogeneous (nonlinear) one is proposed and validated by experiment. The nonlinear observer design is based on the the concept of a linear geometric homogeneity. The simple procedure developed to apply the homogeneous nonlinear observer is based on the parameters provided by the linear observer, which is potential for many applications to improve their performance. A saturation function is introduced to guaranteed the improvement of estimation quality. Finally the theoretical results are confirmed by the QDrone platform of Quanser T M .
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https://hal.inria.fr/hal-03382805
Contributor : Andrey Polyakov Connect in order to contact the contributor
Submitted on : Monday, October 18, 2021 - 12:29:53 PM
Last modification on : Thursday, January 20, 2022 - 5:29:22 PM
Long-term archiving on: : Wednesday, January 19, 2022 - 8:31:28 PM

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Siyuan Wang, Andrey Polyakov, Gang Zheng. Generalized Homogenization of Linear Observers: Theory and Experiment. International Journal of Robust and Nonlinear Control, Wiley, 2021, ⟨10.1002/rnc.5771⟩. ⟨hal-03382805⟩

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