Non Lipschitz triangular canonical form for uniformly observable controlled systems

Pauline Bernard; Laurent Praly; Vincent Andrieu

Non Lipschitz triangular canonical form for uniformly observable controlled systems

Pauline Bernard ¹ Laurent Praly ¹ Vincent Andrieu ²

2 LAGEP - Laboratoire d'automatique et de génie des procédés

Abstract : We study the problem of designing observers for controlled systems which are uniformly observable and differentially observable, but with an order larger than the system state dimension : we have only an injection, and not a diffeomorphism. We establish that they can be transformed into a triangular canonical form but with possibly non locally Lipschitz functions. Since the classical high gain observer is no longer sufficient, we review and propose other observers to deal with such systems, such as a cascade of homogeneous observers.

Keywords : uniform observability differential observability canonical observable form finite-time observers homogeneous observers exact differentiators

Type de document :

Communication dans un congrès

NOLCOS 2016, 10th IFAC Symposium on Nonlinear Control Systems, Aug 2016, Monterey, United States. pp.511 - 516, Proceedings of NOLCOS 2016, 10th IFAC Symposium on Nonlinear Control Systems. 〈https://www.math.ucdavis.edu/static/conferences/nolcos_2016/〉

Domaine :

Sciences de l'ingénieur [physics] / Automatique / Robotique

Liste complète des métadonnées

https://hal-mines-paristech.archives-ouvertes.fr/hal-01445381
Contributeur : François Chaplais <>
Soumis le : mardi 24 janvier 2017 - 18:10:28
Dernière modification le : lundi 12 novembre 2018 - 10:56:50

Non Lipschitz triangular canonical form for uniformly observable controlled systems

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Non Lipschitz triangular canonical form for uniformly observable controlled systems

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