Recursive design of finite-time convergent observers for a class of time-varying nonlinear systems |
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Authors: | Haibo Du Chunjiang Qian Shizhong Yang Shihua Li |
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Affiliation: | 1. College of Engineering, Nanjing Agricultural University, Nanjing 210031, PR China;2. School of Automation, Southeast University, Nanjing 210096, PR China;3. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, PR China |
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Abstract: | This paper considers the problem of designing globally finite-time convergent observers for a class of nonlinear systems with time-varying and output-dependent coefficients, which make the existing design approaches inapplicable. To solve this problem, a bottom-up design approach is first employed to recursively construct a finite-time convergent observer with time-varying coefficients for the nominal system. Then, using the homogeneous domination approach, we scale the finite-time convergent observer with an appropriate choice of gain for the original nonlinear system satisfying a Hölder condition. In addition, we show that the Hölder condition imposed on the nonlinearities can be removed for nonlinear systems with bounded trajectories. |
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