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A switching observer for a class of non-uniformly observable systems via singular time-rescaling

Abstract : We present a switching observer for a class of nonuniformly observable systems that are affine in the unmeasured states and nonlinear in the measured output. Using a singular time-rescaling, the dynamics of the estimation error is transformed into that of a bimodal switched linear system. Sufficient conditions that guarantee the observer's uniform asymptotic stability are provided; these are stated in terms of persistency of excitation and dwell-time of the (output-dependent) time-scaling function evaluated along the trajectories of the system. Unlike most results on switching observers, our approach does not rely on the solution of a set of linear matrix inequalities to compute the observer gain. In addition, we compare our scheme against the Kalman observer in a particular, but meaningful, case-study of observer-based control in automotive systems.
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Contributor : Antonio Loria Connect in order to contact the contributor
Submitted on : Tuesday, November 23, 2021 - 11:53:02 AM
Last modification on : Tuesday, January 4, 2022 - 6:43:36 AM


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Missie Aguado-Rojas, Trong-Bien Hoang, William Pasillas-Lépine, Antonio Loria, Witold Respondek. A switching observer for a class of non-uniformly observable systems via singular time-rescaling. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, inPress, ⟨10.1109/TAC.2021.3062340⟩. ⟨hal-03442860⟩



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