Design of state observers from a drift-observability property

Citation
M. Dalla Mora et al., Design of state observers from a drift-observability property, IEEE AUTO C, 45(8), 2000, pp. 1536-1540
Citations number
28
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
ISSN journal
00189286 → ACNP
Volume
45
Issue
8
Year of publication
2000
Pages
1536 - 1540
Database
ISI
SICI code
0018-9286(200008)45:8<1536:DOSOFA>2.0.ZU;2-Y
Abstract
In this paper, the problem of state observation with exponential error deca y for nonlinear systems affine in the input is considered and an observer i s proposed. For such an observer, the drift-observability property of the s ystem (i.e,, observability for zero input), together with an assumption on the input amplitude or on the observation relative degree, are sufficient c onditions for exponential convergence of the observation error. The existen ce of an exponential observer is correlated to the existence of a solution for an H-infinity Riccati-like inequality. Global and semiglobal convergenc e results are presented.