Details

Autor(en) / Beteiligte

• Boutat, Driss,
• Zheng, Gang,

Titel

Observer design for nonlinear dynamical systems : differential geometric methods

Ort / Verlag

Cham, Switzerland : Springer,

Erscheinungsjahr

[2021]

Beschreibungen/Notizen

• Includes bibliographical references and indexes.
• Intro -- Preface -- Contents -- 1 Observability and Observer for Dynamical Systems -- 1.1 Introduction -- 1.2 Observability and Observer for Linear Dynamical Systems -- 1.2.1 Observability Analysis -- 1.2.2 Observer Design -- 1.3 Observability and Observer for Nonlinear Dynamical Systems -- 1.3.1 Observability Analysis -- 1.3.2 Observer Design -- References -- 2 Background on Differential Geometry -- 2.1 Vector Fields: Derivation and Dynamics -- 2.2 Lie Bracket of Vector Fields -- 2.3 Differential Forms -- 2.4 Change of Coordinates: Diffeomorphism -- 2.5 Integrability, Involutivity and Frobenius Theorem -- References -- 3 Observer Normal Form with Output Injection -- 3.1 Problem Statement -- 3.2 Observer Normal Form with Output Injection -- 3.3 Extension to Systems with Inputs -- 3.4 Observer Design -- 3.4.1 Luenberger-Like Observer -- 3.4.2 Design Procedure -- References -- 4 Observer Normal Form with Output Injection and Output Diffeomorphism -- 4.1 Problem Statement -- 4.2 Diffeomorphism on Output -- 4.3 Diffeomorphism for States -- 4.4 Observer Design -- 4.4.1 High-Gain Observer -- 4.4.2 Design Procedure -- References -- 5 Observer Normal Form by Means of Extended Dynamics -- 5.1 Problem Statement -- 5.2 Observer Normal Form with Scalar Extended Dynamics -- 5.3 High-Dimensional Extension -- 5.4 Observer Design -- 5.4.1 Adaptive Observer -- 5.4.2 Design Procedure -- References -- 6 Output-Depending Observer Normal Form -- 6.1 Problem Statement -- 6.2 Analysis of the Output-Depending Normal Form -- 6.3 Construction of New Vector Fields -- 6.4 Observer Design -- 6.4.1 Step-by-Step Sliding Mode Observer -- 6.4.2 Design Procedure -- References -- 7 Extension to Nonlinear Partially Observable Dynamical Systems -- 7.1 Problem Statement -- 7.2 Necessary and Sufficient Conditions -- 7.3 Diffeomorphism on the Output -- 7.4 Observer Design.
• 7.4.1 Homogeneous Observer -- 7.4.2 Design Procedure -- References -- 8 Extension to Nonlinear Dynamical Systems with Multiple Outputs -- 8.1 Problem Statement -- 8.2 Construction of the Frame -- 8.3 Necessary and Sufficient Conditions -- 8.4 Diffeomorphism Deduction -- 8.5 Special Cases -- 8.5.1 Equal Observability Indices -- 8.5.2 Unequal Observability Indices -- 8.6 Extension to Partial Observer Normal Form with Multiple Outputs -- 8.6.1 Properties of Δ and Δperp -- 8.6.2 Transformation -- 8.7 Observer Design -- 8.7.1 Reduced-Order Luenberger-Like Observer -- 8.7.2 Design Procedure -- References -- 9 Extension to Nonlinear Singular Dynamical Systems -- 9.1 Problem Statement -- 9.2 Transformation into Regular System -- 9.3 Necessary and Sufficient Conditions -- 9.4 Observer Design -- 9.4.1 Nonlinear Luenberger-Like Observer -- 9.4.2 Design Procedure -- References -- Appendix Index -- Index.
• Description based on print version record.