论文标题
与主动传感有关的可观察性结果
An observability result related to active sensing
论文作者
论文摘要
对于在输出中具有特定类别非线性类别的一般翻译不变的系统，本文为全球可观察性提供了必要和足够的条件。至关重要的是，这类系统不能通过动态输出反馈稳定在孤立的平衡点上。这些分析可能有助于解释动物在执行某些运动行为时所做的主动感应运动，尽管这些主动感应运动似乎与主要运动目标相反。这里提出的发现表明，主动传感是维持这种生物系统的可观察性，由于存在高通传感器动力学，因此本质上是非线性的。
For a general class of translationally invariant systems with a specific category of nonlinearity in the output, this paper presents necessary and sufficient conditions for global observability. Critically, this class of systems cannot be stabilized to an isolated equilibrium point by dynamic output feedback. These analyses may help explain the active sensing movements made by animals when they perform certain motor behaviors, despite the fact that these active sensing movements appear to run counter to the primary motor goals. The findings presented here establish that active sensing underlies the maintenance of observability for such biological systems, which are inherently nonlinear due to the presence of the high-pass sensor dynamics.
