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AUTOMATICA
2010

An adaptive high-gain observer for nonlinear systems

8 years 4 months ago
An adaptive high-gain observer for nonlinear systems
The main contribution of this paper is to provide a solution to the noise sensitivity of high-gain observers. We propose a nonlinear observer that possesses simultaneously the properties of 1) the extended Kalman filter, which behaves well with respect to noise, and 2) the high-gain extended Kalman filter that is performant with respect to large perturbations. The idea is to adapt the gain in terms of the innovation. We prove a general convergence result, propose guidelines to practical implementation and show simulation results for an example. Key words: Nonlinear observer; Adaptive high-gain observer; Kalman filtering.
Nicolas Boizot, Eric Busvelle, Jean-Paul Gauthier
Added 08 Dec 2010
Updated 08 Dec 2010
Type Journal
Year 2010
Where AUTOMATICA
Authors Nicolas Boizot, Eric Busvelle, Jean-Paul Gauthier
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