A nonlinear Luenberger-like observer for nonlinear singular systems

Gang Zheng (1, 2, 3) , Driss Boutat (4) , Haoping Wang (5)

1 NON-A - Non-Asymptotic estimation for online systems
2 DEFROST - Deformable Robots Simulation Team
3 CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
4 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
5 NJUST - Nanjing University of Science and Technology

This paper investigates observer design problem for a large class of nonlinear singular systems with multiple outputs. We firstly regularize the singular system by injecting the derivative of outputs into the system. Then differential geometric method is applied to transform the regularized system into a simple normal form, for which a Luenberger-like observer is proposed.

Domaines: Automatique

Gang Zheng, Driss Boutat, Haoping Wang. A nonlinear Luenberger-like observer for nonlinear singular systems. Automatica, 2017, 86, pp.11-17. ⟨10.1016/j.automatica.2017.08.018⟩. ⟨hal-01649492⟩