Range identification for perspective dynamic systems using linear approximation
Ma, L.; YangQuen Chen; Moore, K.L.
Robotics and Automation, 2004. Proceedings. ICRA apos;04. 2004 IEEE International Conference on
Volume 2, Issue , April 26-May 1, 2004 Page(s): 1658 - 1663 Vol.2
Digital Object Identifier   10.1109/ROBOT.2004.1308062
Summary: This paper presents linear approximation ideas to range identification problem for a perspective dynamic system (PDS). Using a recently introduced linear approximation technique, the perspective dynamic system, which is a special class of nonlinear systems, can be approximated by a sequence of linear time-varying (LTV) subsystems. Observer design problem of the original nonlinear PDS reduces to the observer design of this sequence of LTV subsystems. For each LTV subsystem, existing standard observer methods can be applied.

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