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An extension of a lemma of Dayawansa and its application in the design of extended observers for nonlinear systems. (English) Zbl 1429.93074

Summary: In this paper we show how, by extending a classical Lemma due to Dayawansa, it is possible to enhance the theory of robust extended observers so as to cover a wide class of nonlinear systems, namely those systems whose normal form is characterized by “time-dependent gains” in the “string of integrators between input and output”. Such class includes helicopters, quadrotors, robot arms and electric drives.

MSC:

93B35 Sensitivity (robustness)
93B53 Observers
93C10 Nonlinear systems in control theory
93C85 Automated systems (robots, etc.) in control theory
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References:

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