A High-Gain Nonlinear Observer With Limited Gain Power

International audienceIn this note we deal with a new observer for nonlinear systems of dimension n in canonical observability form. We follow the standard high-gain paradigm, but instead of having an observer of dimension n with a gain that grows up to power n, we design an observer of dimension 2n − 2 with a gain that grows up only to power 2

Multi-pattern output consensus in networks of heterogeneous nonlinear agents with uncertain leader: a nonlinear regression approach

International audienceIn this paper we consider the problem of consensus of a network of heterogeneous nonlinear agents on a family of different desired trajectories generated by an uncertain leader. We design a set of local reference generators and local controllers which guarantees that the agents achieve consensus robustly on all possible trajectories inside this family. The design of the local reference generators is based on the possibility to express the trajectory of the leader as a nonlinear regression law which is parametrized by some constant unknown parameters