Nonlinear Observers for Time-Varying Systems Appearing in Dynamical Machine Vision

Authors:	Inaba Hiroshi, Tokyo Denki University, Japan Abdursul Rixat, Tokyo Denki University, Japan
Topic:	2.3 Non-Linear Control Systems
Session:	Nonlinear Observers and Output Feedback
Keywords:	nonlinear observer, machine vision, perspective system, time-varying, uniformly observable, exponential stability

Abstract

Perspective dynamical systems arise in dynamic machine vision. This paper studies a Luenberger-type nonlinear observer for a perspective time-varying linear system in which the number of observing points is more than one. More precisely, assuming a given perspective time-varying linear system to be Lyapunov stable and to satisfy some sort of observability condition, it is shown that the estimation error converges exponentially to zero.