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arXiv · 0903.0298

Homogeneous Approximation, Recursive Observer Design, and Output Feedback

Vincent Andrieu·Laurent Praly·Alessandro Astolfi
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Abstract

We introduce two new tools that can be useful in nonlinear observer and output feedback design. The first one is a simple extension of the notion of homogeneous approximation to make it valid both at the origin and at infinity (homogeneity in the bi-limit). Exploiting this extension, we give several results concerning stability and robustness for a homogeneous in the bi-limit vector field. The second tool is a new recursive observer design procedure for a chain of integrator. Combining these two tools, we propose a new global asymptotic stabilization result by output feedback for feedback and feedforward systems.

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Vincent Andrieu, Laurent Praly, Alessandro Astolfi. 2009-03-02. Homogeneous Approximation, Recursive Observer Design, and Output Feedback. https://doi.org/10.1137/060675861

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