Uniting Observers
We propose a framework for designing observers possessing global convergence properties and desired asymptotic behaviors for the state estimation of nonlinear systems. The proposed scheme consists in combining two given continuous-time observers: One, denoted as global, ensures (approximate) converg...
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| Veröffentlicht in: | IEEE transactions on automatic control 2020-07, Vol.65 (7), p.2867-2882 |
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| container_title | IEEE transactions on automatic control |
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| creator | Astolfi, Daniele Postoyan, Romain Nesic, Dragan |
| description | We propose a framework for designing observers possessing global convergence properties and desired asymptotic behaviors for the state estimation of nonlinear systems. The proposed scheme consists in combining two given continuous-time observers: One, denoted as global, ensures (approximate) convergence of the estimation error for any initial condition ranging in some prescribed set, while the other, denoted as local, guarantees a desired local behavior. We make assumptions on the properties of these two observers, and not on their structures, and then explain how to unite them as a single scheme using hybrid techniques. Two case studies are provided to demonstrate the applicability of the framework. Finally, a numerical example is presented. |
| doi_str_mv | 10.1109/TAC.2019.2933395 |
| format | Article |
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| subjects | Asymptotic properties Automation & Control Systems Computer Science Convergence Engineering Engineering, Electrical & Electronic Estimation error Extended Kalman filters (EKF) hybrid systems local performances Noise measurement Nonlinear systems Observers Science & Technology State estimation Switches Systems and Control Technology Time-domain analysis |
| title | Uniting Observers |
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