Luenberger-type observers for perspective linear systems

Rixat Abdursul, Hiroshi Inaba, Bijoy K. Ghosh

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

Perspective dynamical systems arise in machine vision, in which only perspective observation is available, and the essential problem is to estimate the state and /or unknown parameters for a moving rigid body based on the observed information. This paper proposes and studies a Luenberger-type observer for perspective linear systems. In particular, assuming a given perspective linear system to be Lyapunov stable and to satisfy some sort of detectability condition, it is shown that the estimation error converges exponentially to zero. Finally, some simple numerical examples are presented to illustrate the result obtained.

Original languageEnglish
Title of host publication2001 European Control Conference, ECC 2001
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2924-2929
Number of pages6
ISBN (Electronic)9783952417362
DOIs
StatePublished - 2001
Event6th European Control Conference, ECC 2001 - Porto, Portugal
Duration: Sep 4 2001Sep 7 2001

Publication series

Name2001 European Control Conference, ECC 2001

Conference

Conference6th European Control Conference, ECC 2001
CountryPortugal
CityPorto
Period09/4/0109/7/01

Keywords

  • detectability
  • exponential stability
  • machine vision
  • nonlinear observer
  • perspective system

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