An immersion-based observer design for rank-observable nonlinear systems

Gildas Besancon (1) , Alexandru Ticlea (2)

1 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
2 UPB

In this paper, an observer design for a wide class of nonlinear systems is proposed. It is based on some high-gain design for the particular case of state affine systems up to triangular nonlinearity on the one hand, and immersion of nonlinear systems into such a form on the other hand. Conditions for the observer convergence are given in terms of appropriate excitation, and a constructive procedure for the immersion is presented. The methodology is illustrated by examples of application.

Domaines: Automatique / Robotique

Gildas Besancon, Alexandru Ticlea. An immersion-based observer design for rank-observable nonlinear systems. IEEE Transactions on Automatic Control, 2007, 52 (1), pp.83. ⟨10.1109/TAC.2006.889867⟩. ⟨hal-00222102⟩