An adaptive high-gain observer for nonlinear systems

The main contribution of this paper is to provide a solution to the noise sensitivity of high-gain observers. We propose a nonlinear observer that possesses simultaneously the properties of 1) the extended Kalman filter, which behaves well with respect to noise, and 2) the high-gain extended Kalman filter that is performant with respect to large perturbations. The idea is to adapt the gain in terms of the innovation. We prove a general convergence result, propose guidelines to practical implementation and show simulation results for an example. Key words: Nonlinear observer; Adaptive high-gain observer; Kalman filtering.

• Type: Journal
• Year: 2010
• Where: AUTOMATICA
• Authors: Nicolas Boizot, Eric Busvelle, Jean-Paul Gauthier
• Keywords: AUTOMATICA 2010, Extended Kalman Filter, Noise Sensitivity, Nonlinear Observer