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.
https://hal-mines-paristech.archives-ouvertes.fr/hal-01250483
Contributeur : François Chaplais
<>
Soumis le : lundi 4 janvier 2016 - 19:26:33
Dernière modification le : vendredi 15 février 2019 - 16:34:02
Pauline Bernard, Laurent Praly, Vincent Andrieu. Tools for observers based on coordinate augmentation. 2015 IEEE 54th Annual Conference on Decision and Control (CDC 2015), Dec 2015, Osaka, Japan. ⟨hal-01250483⟩
