An observer design framework is introduced for ordinary differential equation (ODE) systems based on various types of existing or even novel one-parameter symmetries (exact, asymptotic and variational) ending up with different types of semi-global and global observers, by considering bounded or unbounded system solutions and requiring asymptotic- or prescribed-time error convergence. We compare some of these symmetry-based observers with existing observers, recovering for instance the same performances as high-gain semiglobal observers and the finite-time convergence capabilities of sliding mode observers.
Dettaglio pubblicazione
2025, IEEE TRANSACTIONS ON AUTOMATIC CONTROL, Pages -
Symmetry-based observers (01a Articolo in rivista)
Battilotti Stefano
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