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Lie Transform Construction of Exponential Normal Form Observers
Journal article   Open access

Lie Transform Construction of Exponential Normal Form Observers

Suba Thomas, Harry G. Kwatny, Bor-Chin Chang and Sony Thomas
IFAC Proceedings Volumes, v 36(11)
Jun 2003
DOI: https://doi.org/10.1016/S1474-6670(17)35646-X
url
https://doi.org/10.1016/s1474-6670(17)35646-xView
Published, Version of Record (VoR)Maybe Open Access (Publisher Bronze),  Open

Abstract

Exponential Nonlinear Observers Resonance Series
Motivated by a class of nonlinear regulator problems associated with systems that experience actuator failure, this work discusses the construction of nonlinear observers in normal form using a systematic and elegant method of transformation, namely Lie Transforms. It is shown how the transformation, which is the solution of a Homological Equation, and the observer gain matrix, which is a series of matrix homogenous polynomials, can be sequentially computed. An illustrative example is given and experience with using these observers is discussed.

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