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Homogeneous approximations and local observer design

Published online by Cambridge University Press:  03 June 2013

Tomas Ménard ,
Emmanuel Moulay  and
Wilfrid Perruquetti
Tomas Ménard
Affiliation:
GREYC, UMR CNRS 6072, Université de Caen, 6 Bd du Maréchal Juin, BP 5186–14032 Caen Cedex, France. tomas.menard@unicaen.fr
Emmanuel Moulay
Affiliation:
Xlim-SIC, UMR CNRS 6172, Université de Poitiers, Bvd Marie et Pierre Curie, BP 30179, 86962 futuroscope Chasseneuil, France; emmanuel.moulay@univ-poitiers.fr
Wilfrid Perruquetti
Affiliation:
NON-A, INRIA Lille Nord Europe and LAGIS UMR CNRS 8219, Ecole Centrale de Lille, BP 48, 59651 Villeneuve D’Ascq, France; wilfrid.perruquetti@ec-lille.fr
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Abstract

This paper is concerned with the construction of local observers for nonlinear systems without inputs, satisfying an observability rank condition. The aim of this study is, first, to define an homogeneous approximation that keeps the observability property unchanged at the origin. This approximation is further used in the synthesis of a local observer which is proven to be locally convergent for Lyapunov-stable systems. We compare the performance of the homogeneous approximation observer with the classical linear approximation observer on an example.

Keywords

Homogeneityapproximationslocal observer
Type
Research Article
Information
ESAIM: Control, Optimisation and Calculus of Variations , Volume 19 , Issue 3 , July 2013 , pp. 906 - 929
Copyright
© EDP Sciences, SMAI, 2013

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