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Conference Papers Year : 2023

Output feedback stabilization of non-uniformly observable systems by means of a switched Kalman-like observer

Abstract

We propose to explore switching methods in order to recover some properties of Kalmanlike observers for output feedback stabilization of state-affine systems that may present observability singularities. The self-tuning gain matrix in Kalman-like observers tend to be singular in the case of non-uniformly observable systems. We show in the case of state-affine systems with observable target that it can be prevented by dynamically monitoring observability of the system, and switching the control when it becomes critical.
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Dates and versions

hal-03845706 , version 1 (15-11-2022)

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Lucas Brivadis, Ludovic Sacchelli. Output feedback stabilization of non-uniformly observable systems by means of a switched Kalman-like observer. 22nd World Congress of the International Federation of Automatic Control (IFAC 2023), Jul 2023, Yokohama, Japan. ⟨10.1016/j.ifacol.2023.10.250⟩. ⟨hal-03845706⟩
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