The paper presents a nonlinear observer design using Automatic Differentiation (AD). In order to design a nonlinear observer, symbolic approaches are utilized for calculating the Lie derivatives and Lie brackets that are difficult to obtain for large-scale systems. Fortunately, the AD-based algorithm is applicable to high order systems. To verify the method, a simulation of 2-dimensional nonlinear system, i.e., the sagittal plane of a mono-wheel robot, is shown.
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