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State estimation for a class of linear systems with quadratic output

Theodosis Dionysios, Berkane Soulaimane, Dimarogonas, Dimos

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Year 2021
Type of Item Conference Publication
Bibliographic Citation D. Theodosis, S. Berkane, and D. V. Dimarogonas, “State estimation for a class of linear systems with quadratic output,” in 24th International Symposium on Mathematical Theory of Networks and Systems MTNS 2020, Cambridge, United Kingdom, 2021, vol. 54, no. 9, pp. 261-266, doi: 10.1016/j.ifacol.2021.06.149.
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This paper deals with the problem of state estimation for a class of linear time-invariant systems with quadratic output measurements. An immersion-type approach is presented that transforms the system into a state-affine system by adding a finite number of states to the original system. Under suitable persistence of excitation conditions on the input and its higher derivatives, global state estimation is exhibited by means of a Kalman-type observer. A numerical example is provided to illustrate the applicability of the proposed observer design for the problem of position and velocity estimation for a vehicle navigating in the n—dimensional Euclidean space using a single position range measurement.

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