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Journal Articles IEEE Transactions on Automatic Control Year : 2022

Extension of the Observability Rank Condition to Time-Varying Nonlinear Systems

Abstract

This article provides an extension of the observability rank condition to time-varying nonlinear systems. Previous conditions to check the state observability only hold for nonlinear systems that do not explicitly depend on time, or, for time-varying systems, they only account for the linear case. In this article, a general analytic condition is provided. The new condition reduces to the well-known observability rank condition in the two simpler cases of time-varying linear systems and time-invariant nonlinear systems. The proposed condition is applied to aerospace robotics to study the observability of a lunar-module-type system equipped with monocular vision and inertial sensors.
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Dates and versions

hal-03920644 , version 1 (26-01-2023)

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Agostino Martinelli. Extension of the Observability Rank Condition to Time-Varying Nonlinear Systems. IEEE Transactions on Automatic Control, 2022, 67 (9), pp.5002-5008. ⟨10.1109/TAC.2022.3180771⟩. ⟨hal-03920644⟩
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