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Journal Articles IEEE Transactions on Automatic Control Year : 2020

Uniting observers


We propose a framework for designing observers possessing global convergence properties and desired asymptotic behaviours for the state estimation of nonlinear systems. The proposed scheme consists in combining two given continuous-time observers: one, denoted as global, ensures (approximate) convergence of the estimation error for any initial condition ranging in some prescribed set, while the other, denoted as local, guarantees a desired local behaviour. We make assumptions on the properties of these two observers, and not on their structures, and then explain how to unite them as a single scheme using hybrid techniques. Two case studies are provided to demonstrate the applicability of the framework. Finally, a numerical example is presented.
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hal-02283837 , version 1 (11-09-2019)



Daniele Astolfi, Romain Postoyan, Dragan Nešić. Uniting observers. IEEE Transactions on Automatic Control, 2020, 65 (7), pp.2867-2882. ⟨10.1109/TAC.2019.2933395⟩. ⟨hal-02283837⟩
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