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.
2023
Noisy systems; Nonlinear dynamics; Observers; Gain adaptation
01 Pubblicazione su rivista::01a Articolo in rivista
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]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1664371
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