Output feedback stabilization of non-uniformly observable systems by means of a switched Kalman-like observer - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2023

Output feedback stabilization of non-uniformly observable systems by means of a switched Kalman-like observer

Résumé

We propose to explore switching methods in order to recover some properties of Kalmanlike observers for output feedback stabilization of state-affine systems that may present observability singularities. The self-tuning gain matrix in Kalman-like observers tend to be singular in the case of non-uniformly observable systems. We show in the case of state-affine systems with observable target that it can be prevented by dynamically monitoring observability of the system, and switching the control when it becomes critical.
Fichier principal
Vignette du fichier
SwitchedKalman.pdf (469.78 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03845706 , version 1 (15-11-2022)

Identifiants

Citer

Lucas Brivadis, Ludovic Sacchelli. Output feedback stabilization of non-uniformly observable systems by means of a switched Kalman-like observer. 22nd World Congress of the International Federation of Automatic Control (IFAC 2023), Jul 2023, Yokohama, Japan. ⟨10.1016/j.ifacol.2023.10.250⟩. ⟨hal-03845706⟩
62 Consultations
24 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More