Acquisition of observer mapping in driftless, non-holonomic system

Abstract

In this study we develop an exploratory method for non-holonomic driftless systems with unknown state equation and sensor mapping to enable controllability. For that purpose, we acquire an approximated mapping from the sensor space to a virtual linear state space by the study of the Jacobian of the sensors, therefore circumventing the lack of knowledge of the underlying state equation of the system and mapping of the sensors.