Nonlinear observer design techniques with observability functions

Author

Carnevale, D. ; Galeani, S. ; Sassano, M. ; Astolfi, A.

Author_Institution

Dipt. di Ing. Civile e Ing. Inf., Univ. di Roma Tor Vergata, Rome, Italy

fYear

2013

fDate

10-13 Dec. 2013

Firstpage

31

Lastpage

36

Abstract

Two different observer design techniques for linear and nonlinear systems based on the so-called observability function, which is related to the Gramian matrix in the linear case, are proposed. Asymptotic and finite-time convergence results are provided. The effectiveness of the proposed approaches are demonstrated via numerical simulations. The asymptotically convergent observer design technique provide constructions similar to the Maximum-likelihood nonlinear filter despite the different perspectives.

Keywords

control system synthesis; matrix algebra; maximum likelihood estimation; nonlinear control systems; nonlinear filters; observability; observers; Gramian matrix; asymptotic convergence; finite-time convergence; linear systems; maximum-likelihood nonlinear filter; nonlinear observer design techniques; nonlinear systems; numerical simulations; observability functions; Convergence; Equations; Jacobian matrices; Linear systems; Nonlinear systems; Observability; Observers;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on

Conference_Location

Firenze

ISSN

0743-1546

Print_ISBN

978-1-4673-5714-2

Type

conf

DOI

10.1109/CDC.2013.6759854

Filename

6759854