NDLI: Extension of the observability rank condition to nonlinear systems driven by unknown inputs

Content Provider	IEEE Xplore Digital Library
Author	Martinelli, A.
Copyright Year	2015
Description	Author affiliation: INRIA Rhone Alpes, Montbonnot, France (Martinelli, A.)
Abstract	This paper investigates the unknown input observability problem in the nonlinear case under the assumption that the unknown inputs are differentiable functions of time (up to a given order). The goal is not to design new observers but to provide simple analytic conditions in order to check the weak local observability of the state. The analysis starts by providing a new definition of indistinguishable states in the case of unknown inputs. Then, in order to separate the effect of the known inputs from the effect of the unknown inputs on the system outputs, the state is augmented. This allows us to obtain the extension of basic properties, which hold in the case of known inputs. Starting from these properties, the paper provides a sufficient analytic condition for the state observability, which is called the extended observability rank condition. The proposed approach is used to derive the observability properties of two systems. The former is very simple while the latter is very complex and describes the fusion of visual and inertial measurements.
Starting Page	589
Ending Page	595
File Size	268466
Page Count	7
File Format	PDF
ISBN	9781479999361
DOI	10.1109/MED.2015.7158811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-16
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Unknown Input Frequency modulation Nonlinear Systems Cameras Acceleration Observability Nonlinear systems Nonlinear Observability Standards Vehicles
Content Type	Text
Resource Type	Article

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