Generalized homogenization of linear observers: Theory and experiment

A procedure of upgrading a linear observer to homogeneous (nonlinear) one is proposed and validated by experiment. The nonlinear observer design is based on the concept of a linear geometric homogeneity. The simple procedure developed to apply the homogeneous nonlinear observer is based on the parameters provided by the linear observer, which is potential for many applications to improve their performance. A saturation function is introduced to guarantee the improvement of estimation quality. Finally the theoretical results are confirmed by the QDrone platform of Quanser (Formula presented.).