Geometric characterization of reduced-order dynamic observer error linearization for uncontrolled multi-output systems

In this paper, we introduce the concept of reduced-order dynamic observer error linearization (RDOEL) for uncontrolled multi-output systems, which is a natural extension of the (conventional) observer error linearization (OEL) as well as a modified version of dynamic observer error linearization (DO...

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Bibliographic Details
Published in2012 IEEE 51st IEEE Conference on Decision and Control (CDC) pp. 338 - 343
Main Authors Hansung Cho, Jongwook Yang, Jin Heon Seo
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2012
Subjects
differential geometry
Nonlinear dynamical systems
nonlinear observer canonical form
nonlinear observer design
Observability
Observers
Polynomials
system immersion
Transforms
Vectors
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Summary:In this paper, we introduce the concept of reduced-order dynamic observer error linearization (RDOEL) for uncontrolled multi-output systems, which is a natural extension of the (conventional) observer error linearization (OEL) as well as a modified version of dynamic observer error linearization (DOEL). We first state necessary conditions for RDOEL, and then provide a necessary and sufficient condition in terms of Lie algebras of vector fields, which has not yet been completely established even in OEL.
ISBN:9781467320658
146732065X
ISSN:0191-2216
DOI:10.1109/CDC.2012.6425885