Journal
IFAC PAPERSONLINE
Volume 49, Issue 18, Pages 716-723Publisher
ELSEVIER
DOI: 10.1016/j.ifacol.2016.10.250
Keywords
Nonlinear Dynamics; Operator Theory; Observer Design
Categories
Funding
- UTRC
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In this paper we develop a new approach for observer synthesis for discrete time autonomous nonlinear systems based on Koopman operator theoretic framework. Koopman operator is a linear but an infinite-dimensional operator that governs the time evolution of system outputs in a linear fashion. We exploit this property to synthesize an observer form which enables the use of Luenberger/Kalman-like linear observers for nonlinear estimation. Using the techniques for Koopman eigenvalue/eigenfunction/mode computation, we describe a numerical procedure to construct such an observer form which is often valid in a large portion of state space or even globally. We numerically compare our approach with Extended Kalman Filter and report superior performance. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
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