Hybrid Multi-Observer for Improving Estimation Performance

Abstract

Various methods are nowadays available to design observers for broad classes of systems, where the primary focus is on establishing the convergence of the estimated states. Nevertheless, the question of the tuning of the observer to achieve satisfactory estimation performance remains largely open. In this context, we present a general design framework for the online tuning of the observer gains. Our starting point is a robust nominal observer designed for a general nonlinear system, for which an input-to-state stability property can be established. Our goal is then to improve the performance of this nominal observer. We present for this purpose a new hybrid multi-observer scheme, whose flexi..