Homogeneous observers with dynamic high gains

Vincent Andrieu (1) , Laurent Praly (2) , Alessandro Astolfi (1)

1 EEE Department
2 CAS - Centre Automatique et Systèmes

We propose an extension of the well-known high-gain observer design by incorporating an update law for the gain as well as higher order output error terms in the correction. This extension is obtained by applying techniques of dynamic scaling and homogeneity in the bi-limit. This allows a wider class of systems in feedback form to be dealt with. Furthermore, the gains of the observer obtained are adaptated to the local incremental rate of the nonlinearities.

Domaines: Automatique / Robotique

Vincent Andrieu, Laurent Praly, Alessandro Astolfi. Homogeneous observers with dynamic high gains. 7th IFAC Symposium on Nonlinear Control Systems, Aug 2007, Pretoria, South Africa. pp.325-330. ⟨hal-00576952⟩