Tools for observers based on coordinate augmentation
Authors: Pauline Bernard, Laurent Praly and Vincent Andrieu, 2015 IEEE 54th Annual Conference on Decision and Control (CDC 2015), pp. 6324-6329, December 15-18, 2015, Osaka
Designing a non linear observer often requires to immerse the system dynamics into a space of greater dimension. In order to avoid the difficult left inversion of the immersion, coordinate augmentation has been proposed in [9]. However, difficulties in this augmentation via continuous Jacobian completion, losses of observability, or the question of completeness of solutions may arise in practice. This paper illustrates with the help of a toy-system how to overcome them by using tools and tricks such as extending the image of a diffeomorphism or adding fictitious outputs.
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BibTeX
@Proceedings{2016-01-04,
author = {Pauline Bernard, Laurent Praly and Vincent Andrieu},
editor = {},
title = {Tools for observers based on coordinate augmentation},
booktitle = {2015 IEEE 54th Annual Conference on Decision and Control (CDC 2015)},
volume = {},
publisher = {},
address = {Osaka},
pages = {6324-6329},
year = {2015},
abstract = {Designing a non linear observer often requires to immerse the system dynamics into a space of greater dimension. In order to avoid the difficult left inversion of the immersion, coordinate augmentation has been proposed in [9]. However, difficulties in this augmentation via continuous Jacobian completion, losses of observability, or the question of completeness of solutions may arise in practice. This paper illustrates with the help of a toy-system how to overcome them by using tools and tricks such as extending the image of a diffeomorphism or adding fictitious outputs.},
keywords = {observers for non linear systems, coordinate augmentation, high gain observers, non linear Luenberger observers, Jacobian completion, diffeomorphism extension}}
Designing a non linear observer often requires to immerse the system dynamics into a space of greater dimension. In order to avoid the difficult left inversion of the immersion, coordinate augmentation has been proposed in [9]. However, difficulties in this augmentation via continuous Jacobian completion, losses of observability, or the question of completeness of solutions may arise in practice. This paper illustrates with the help of a toy-system how to overcome them by using tools and tricks such as extending the image of a diffeomorphism or adding fictitious outputs.
Download PDF
BibTeX
@Proceedings{2016-01-04,
author = {Pauline Bernard, Laurent Praly and Vincent Andrieu},
editor = {},
title = {Tools for observers based on coordinate augmentation},
booktitle = {2015 IEEE 54th Annual Conference on Decision and Control (CDC 2015)},
volume = {},
publisher = {},
address = {Osaka},
pages = {6324-6329},
year = {2015},
abstract = {Designing a non linear observer often requires to immerse the system dynamics into a space of greater dimension. In order to avoid the difficult left inversion of the immersion, coordinate augmentation has been proposed in [9]. However, difficulties in this augmentation via continuous Jacobian completion, losses of observability, or the question of completeness of solutions may arise in practice. This paper illustrates with the help of a toy-system how to overcome them by using tools and tricks such as extending the image of a diffeomorphism or adding fictitious outputs.},
keywords = {observers for non linear systems, coordinate augmentation, high gain observers, non linear Luenberger observers, Jacobian completion, diffeomorphism extension}}