Homogeneous continuous finite-time observer for the triple integrator
Résumé
In this paper we consider the continuous homogeneous observer defined in [1] in the case of the triple in-tegrator. In [1], convergence of the algorithm was only proved when the degree of homogeneity was sufficiently close to 0 without more tractable information. We show here that, in the case of the triple integrator, the observer presents global finite-time stability for any negative degree under constructive conditions on the gains. This is achieved with a homogeneous Lyapunov function design. Simulations of the proposed observer are also provided.
Domaines
Automatique / Robotique
Origine : Fichiers produits par l'(les) auteur(s)
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