Our recent paper “Switched Observer Design For a Class of Locally Unobservable Time-Varying Systems” has been accepted to Automatica!
As for some recent papers, this research is motivated by a robotics application where the measurements are biased. We show that such a bias in the studied nonlinear systems compromised the system’s observability for some values of input signals. We formulate the problem as observer design for a time-varying locally unobservable system and propose a solution in the class of switched observers. The design is performed via LMIs, and the design is implemented in an experiment.