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Tools for observers based on coordinate augmentation

Pauline Bernard 1 Laurent Praly 1 Vincent Andrieu 2
1 CAS - Centre Automatique et Systèmes
2 LAGEP - Laboratoire d'automatique et de génie des procédés
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
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Conference papers
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https://hal-mines-paristech.archives-ouvertes.fr/hal-01250483
Contributor : François Chaplais <>
Submitted on : Monday, January 4, 2016 - 7:26:33 PM
Last modification on : Wednesday, October 14, 2020 - 3:52:36 AM

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  • HAL Id : hal-01250483, version 1

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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⟩

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