Archivio Istituzionale della RicercaIn this article, by coupling sliding-mode differentiators with a tool capable of inverting, in finite time, the suspension of the observability map, a local finite-time observer for nonlinear control systems is proposed. Differently from other approaches, this observer does not rely on a change of coordinates and provides the state estimates in the original coordinates.
A finite-time local observer in the original coordinates for nonlinear control systems / Possieri, Corrado; Vidano, Simone; Novara, Carlo. - In: IEEE TRANSACTIONS ON AUTOMATIC CONTROL. - ISSN 0018-9286. - 65:11(2020), pp. 4808-4815. [10.1109/TAC.2019.2961347]
A finite-time local observer in the original coordinates for nonlinear control systems
Vidano, Simone;Novara, Carlo
2020
Abstract
In this article, by coupling sliding-mode differentiators with a tool capable of inverting, in finite time, the suspension of the observability map, a local finite-time observer for nonlinear control systems is proposed. Differently from other approaches, this observer does not rely on a change of coordinates and provides the state estimates in the original coordinates.
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slidingObs_final.pdf
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Novara_Afinite-time.pdf
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https://hdl.handle.net/11583/2778887