Output feedback stabilization of non-uniformly observable systems by means of a switched Kalman-like observer

TL;DR

This paper introduces a switching approach to stabilize non-uniformly observable state-affine systems using a Kalman-like observer, preventing singularities by dynamically monitoring observability and switching control accordingly.

Contribution

It presents a novel switching method to maintain observer stability and observability in systems with singularities, enhancing output feedback stabilization techniques.

Findings

Switching methods prevent singularities in Kalman-like observers.

Dynamic observability monitoring improves stabilization.

Applicable to state-affine systems with observable targets.

Abstract

We propose to explore switching methods in order to recover some properties of Kalmanlike observers for output feedback stabilization of state-affine systems that may present observability singularities. The self-tuning gain matrix in Kalman-like observers tend to be singular in the case of non-uniformly observable systems. We show in the case of state-affine systems with observable target that it can be prevented by dynamically monitoring observability of the system, and switching the control when it becomes critical.