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Conference papers
Tools for observers based on coordinate augmentation
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
Contributor : François Chaplais Connect in order to contact the contributor
Submitted on : Monday, January 4, 2016 - 7:26:33 PM
Last modification on : Wednesday, November 17, 2021 - 12:31:02 PM
Contributor : François Chaplais Connect in order to contact the contributor
Submitted on : Monday, January 4, 2016 - 7:26:33 PM
Last modification on : Wednesday, November 17, 2021 - 12:31:02 PM