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.
2019, AUTOMATICA, Pages 178-183 (volume: 106)
An extension of a lemma of Dayawansa and its application in the design of extended observers for nonlinear systems (01a Articolo in rivista)
Isidori A., Pyrkin A., Borisov O.
Gruppo di ricerca: Networked Systems