Memory Saving State-Sharing Multi-Observer for a Class of Multi-Observer-Based Algorithms

A multi-observer is a bank of observers which is used for state estimation in various applications. However, it has an implementation bottleneck when a large number of observers are required for the desired estimation performance. To overcome this problem, we propose the design method of a state-sharing multi-observer for a class of nonlinear systems. The state-sharing multi-observer is a single observer that integrates a bank of observers, and its state size is independent of the number of observers. We analyze the error of the state obtained from the state-sharing multi-observer, and then show its applicability to multi-observer based algorithms such as supervisory observers and in secure state estimation.