Convergence of Nonlinear Observers on \BBR^{n} With a Riemannian Metric (Part I)

DOI10.1109/TAC.2011.2179873MaRDI QIDQ5352873zbMATH OpenOpenAlexWikidataFDO

Authors Ricardo G. Sanfelice, Laurent Praly

Publication date 8 September 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1412.6730

Mathematics Subject Classification ID

Observability (93B07) Geometric methods (93B27) Asymptotic stability in control theory (93D20)

Abstract: We study how convergence of an observer whose state lives in a copy of the given system's space can be established using a Riemannian metric. We show that the existence of an observer guaranteeing the property that a Riemannian distance between system and observer solutions is nonincreasing implies that the Lie derivative of the Riemannian metric along the system vector field is conditionally negative. Moreover, we establish that the existence of this metric is related to the observability of the system's linearization along its solutions. Moreover, if the observer has an infinite gain margin then the level sets of the output function are geodesically convex. Conversely, we establish that, if a complete Riemannian metric has a Lie derivative along the system vector field that is conditionally negative and is such that the output function has a monotonicity property, then there exists an observer with an infinite gain margin.

Cited in

(12)

• k-contraction: theory and applications
• Infinite gain margin, contraction and optimality: an LMI-based design
• Robust distributed synchronization of networked linear systems with intermittent information
• State estimation of linear systems in the presence of sporadic measurements
• Basic properties and characterizations of incremental stability prioritizing flow time for a class of hybrid systems
• From local to global asymptotic stabilizability for weakly contractive control systems
• Local properties of exponential contractive systems
• Review on contraction analysis and computation of contraction metrics
• LMI conditions for contraction, integral action, and output feedback stabilization for a class of nonlinear systems
• Output feedback and adaptive output feedback control design for input-affine nonlinear systems based on Riemannian metrics
• Canceling output disturbances in observer design through internal model filters
• Contracting infinite-gain margin feedback and synchronization of nonlinear systems

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