Reduced-order observer design for nonlinear systems

摘要: The problem of constructing globally convergent, reduced-order observers for general nonlinear systems is addressed. It shown, by means the Immersion and Invariance (I&I) methodology, that an asymptotic estimate unknown states can be obtained rendering invariant attractive opportune manifold in extended state space. Current results on observer design require nonlinearities appearing system equations are either linear functions unmeasured or monotonic a combination states. In this paper we relax these two assumptions allowing wider class to appear equations. proposed approach applied several examples including perspective vision two-degrees-of-freedom (2DOF) mechanical system.