Extension of the Observability Rank Condition to Time-Varying Nonlinear Systems

• 成果类型: Article
• 署名作者: Martinelli, Agostino
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3180771
• 发表日期: 2022
• 页码: 5002-5008
• 关键词: Observability; tv; Time-varying systems; nonlinear dynamical systems; Linear systems; systematics; mathematical models; Nonlinear observability; observability rank condition; time-varying (TV) systems

摘要

This article provides an extension of the observability rank condition to time-varying nonlinear systems. Previous conditions to check the state observability only hold for nonlinear systems that do not explicitly depend on time, or, for time-varying systems, they only account for the linear case. In this article, a general analytic condition is provided. The new condition reduces to the well-known observability rank condition in the two simpler cases of time-varying linear systems and time-invariant nonlinear systems. The proposed condition is applied to aerospace robotics to study the observability of a lunar-module-type system equipped with monocular vision and inertial sensors.