High-gain observers in the presence of measurement noise: A switched-gain approach

被引：299

作者：

Ahrens, Jeffrey H. ^{[1
]}

Khalil, Hassan K. ^{[2
]}

机构：

[1] Corning Inc, Sullivan Pk Res Ctr, Corning, NY 14870 USA

[2] Michigan State Univ, Dept Elect & Comp Engn, E Lansing, MI 48824 USA

来源：

AUTOMATICA | 2009年 / 45卷 / 04期

关键词：

Output feedback; Nonlinear observer; Switching; Measurement noise; SEPARATION PRINCIPLE; NONLINEAR-SYSTEMS; STABILIZATION;

D O I：

10.1016/j.automatica.2008.11.012

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper considers output feedback control using high-gain observers in the presence of measurement noise for a class of nonlinear systems. We study stability in the presence of measurement noise and illustrate the tradeoff when selecting the observer gain between state reconstruction speed and robustness to model uncertainty on the one hand versus amplification of noise on the other. Based on this tradeoff we propose a high-gain observer that switches between two gain values. This scheme is able to quickly recover the system states during large estimation error and reduce the effect of measurement noise in a neighborhood of the origin of the estimation error. We argue boundedness and ultimate boundedness of the closed-loop system under switched-gain output feedback. (C) 2009 Elsevier Ltd. All rights reserved.

引用

页码：936 / 943

页数：8

共 12 条

[1]

AHRENS JH, 2006, THESIS MICHIGAN STAT

[2]

Atassi A. N., 1999, THESIS MICHIGAN STAT

[3] A separation principle for the stabilization of a class of nonlinear systems [J].

Atassi, AN ;

Khalil, HK .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1999, 44 (09) :1672-1687

[4] A separation principle for the control of a class of nonlinear systems [J].

Atassi, AN ;

Khalil, HK .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2001, 46 (05) :742-746

[5] Robotic manipulators state observation via one-time gain switching [J].

Elbeheiry, EM ;

Elmaraghy, HA .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2003, 38 (3-4) :313-344

[6] OUTPUT-FEEDBACK STABILIZATION OF FULLY LINEARIZABLE SYSTEMS [J].

ESFANDIARI, F ;

KHALIL, HK .

INTERNATIONAL JOURNAL OF CONTROL, 1992, 56 (05) :1007-1037

[7]

Khalil H.K., 2002, Control of Nonlinear Systems

[8]

Kokotovic P., 1999, Singular perturbation methods in control: analysis and design

[9]

Kwakernaak Huibert, 1974, Linear optimal control systems

[10] A smooth converse Lyapunov theorem for robust stability [J].

Lin, YD ;

Sontag, ED ;

Wang, Y .

SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 1996, 34 (01) :124-160

← 1 2 →