2003 |
Hyungbo Shim / Jin Heon Seo Recursive nonlinear observer design: beyond the uniform observability Journal Article In: IEEE Transactions on Automatic Control, vol. 48, no. 2, pp. 294-298, 2003, ISSN: 0018-9286. Abstract | Links | BibTeX | Tags: Observability @article{ShimSeo03, We propose a recursive design scheme of a state observer for multiple-input-multiple-output, partly lower triangular nonlinear systems. The design begins from the subdynamics far from the output and propagates to the subdynamics close to the output, recalling the backstepping scheme for nonlinear control. The proposed class of systems is fairly general since it includes nonuniformly observable and/or detectable multioutput systems. Error convergence to zero is proved assuming boundedness of inputs a posteriori (i.e., after the design), which is preferable whereas most results in the literature assume the boundedness; a priori (i.e., before the design). A global observer is proposed with the global Lipschitz condition of the system, but without any restriction on the size of Lipschitz coefficient. The Lipschitz condition can be removed when a semiglobal observer is of interest. |
List of English Publication
2003 |
Recursive nonlinear observer design: beyond the uniform observability Journal Article In: IEEE Transactions on Automatic Control, vol. 48, no. 2, pp. 294-298, 2003, ISSN: 0018-9286. |