We propose a framework for designing global observers for nonlinear systems with disturbances under geometric conditions based on orbital symmetries. Under some additional restrictions these orbital symmetry-based conditions boil down to geometric homogeneity (at infinity) conditions. Our observers are the result of the combination of a first filter, a state norm estimator, with a second filter adaptively tuned by the first and when compared with the existing literature have a completely novel structure, inherited by the orbital symmetry-based conditions. The observers exploit the geometric properties of orbital symmetries which are one-parameter groups of transformations capable of mapping the system state into neighbourhoods with parametrized width.
Design of observers with gain adaptation for systems with disturbances: An orbital symmetry-based approach / Battilotti, Stefano. - In: AUTOMATICA. - ISSN 0005-1098. - 149:(2023). [10.1016/j.automatica.2022.110835]
Design of observers with gain adaptation for systems with disturbances: An orbital symmetry-based approach
Stefano Battilotti
2023
Abstract
We propose a framework for designing global observers for nonlinear systems with disturbances under geometric conditions based on orbital symmetries. Under some additional restrictions these orbital symmetry-based conditions boil down to geometric homogeneity (at infinity) conditions. Our observers are the result of the combination of a first filter, a state norm estimator, with a second filter adaptively tuned by the first and when compared with the existing literature have a completely novel structure, inherited by the orbital symmetry-based conditions. The observers exploit the geometric properties of orbital symmetries which are one-parameter groups of transformations capable of mapping the system state into neighbourhoods with parametrized width.File | Dimensione | Formato | |
---|---|---|---|
Battilotti_postprint_Design-of-observers_2023.pdf
solo gestori archivio
Note: articolo principale
Tipologia:
Documento in Post-print (versione successiva alla peer review e accettata per la pubblicazione)
Licenza:
Creative commons
Dimensione
1.1 MB
Formato
Adobe PDF
|
1.1 MB | Adobe PDF | Contatta l'autore |
Battilotti_Design-of-observers_2023.pdf
solo gestori archivio
Note: articolo principale
Tipologia:
Versione editoriale (versione pubblicata con il layout dell'editore)
Licenza:
Tutti i diritti riservati (All rights reserved)
Dimensione
721.08 kB
Formato
Adobe PDF
|
721.08 kB | Adobe PDF | Contatta l'autore |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.