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.
Carnevale, D., Galeani, S., Sassano, M., Astolfi, A. (2013). Nonlinear observer design techniques with observability functions. ??????? it.cilea.surplus.oa.citation.tipologie.CitationProceedings.prensentedAt ??????? 52nd IEEE Conference on Decision and Control [10.1109/CDC.2013.6759854].
Nonlinear observer design techniques with observability functions
CARNEVALE, DANIELE;GALEANI, SERGIO;SASSANO, MARIO;ASTOLFI, ALESSANDRO
2013-12-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
