Dynamic output stabilization of control systems: an unobservable kinematic drone model (Q2663881)

The problem of dynamic output stabilization is considered. This problem is completely solved for uniformly observable systems. However, usually, nonlinear systems do not share this property. In this paper, the problem is solved for a classical academic kinematic model of a fixed wings drone, flying at a constant altitude, with constant linear velocity. Endowed with the only information given by \(x^2+y^2\), the square of the distance to the origin, the authors ask ``is it possible to stabilize this system on a circular trajectory of minimal radius around the origin?'' So, this is a poorly observable system. To answer the question, the authors introduce an observer with a linear correction term in its dynamics, and then prove semiglobal stability of the coupled closed-loop system. A smooth stabilizing feedback \(u:\,R^2\to[-u_{\max},u_{\max}]\) is considered.