Non-asymptotic Observer Design for Nonlinear Systems Based on Linearization

This work establishes a new approach for a linearization based non-asymptotic state observer design. To receive a linear input-output relation of the nonlinear system for the state observer and to avoid the necessity of time-derivatives of the measurement and actuator signals, a combination of linea...

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Bibliographic Details
Published inProceedings of the IEEE Conference on Decision & Control pp. 615 - 621
Main Authors Korder, Kristina, Noack, Matti, Reger, Johann
Format Conference Proceeding
LanguageEnglish
Published IEEE 06.12.2022
Subjects
Noise measurement
Nonlinear dynamical systems
Observers
Real-time systems
State feedback
Task analysis
Trajectory
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ISSN2576-2370
DOI10.1109/CDC51059.2022.9992644

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Summary:This work establishes a new approach for a linearization based non-asymptotic state observer design. To receive a linear input-output relation of the nonlinear system for the state observer and to avoid the necessity of time-derivatives of the measurement and actuator signals, a combination of linearization with the modulating function technique is applied. The estimates are obtained non-asymptotically using a sliding time window of finite length. This procedure allows a continuous-time and recursive update of the state estimates and extends the possible applications of the modulating function technique to a wider range of nonlinear systems. The class of unitary modulating functions is introduced to ensure the solvability of the estimation problem when subject to time-varying coefficients generated from the linearized state trajectory. Two examples illustrate the real-time capability of the algorithm.
ISSN:2576-2370
DOI:10.1109/CDC51059.2022.9992644