An extension of a lemma of Dayawansa and its application in the design of extended observers for nonlinear systems

被引：9

作者：

Isidori, Alberto ^{[1
]}

Pyrkin, Anton ^{[2
,3
,4
]}

Borisov, Oleg ^{[3
]}

机构：

[1] Univ Roma La Sapienza, Dept Comp & Syst Sci A Ruberti, Rome, Italy

[2] Hangzhou Dianzi Univ, Sch Automat, Xiasha Higher Educ Zone, Hangzhou, Zhejiang, Peoples R China

[3] ITMO Univ, Dept Control Syst & Robot, Kronverksky Ave 49, St Petersburg, Russia

[4] Innopolis Univ, Ctr Technol Robot & Mechatron Components, Innopolis, Russia

来源：

AUTOMATICA | 2019年 / 106卷

关键词：

Dayawansa's lemma; Robust observers; Nonlinear systems; High-gain observers;

D O I：

10.1016/j.automatica.2019.04.043

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we show how, by extending a classical Lemma due to Dayawansa, it is possible to enhance the theory of robust extended observers so as to cover a wide class of nonlinear systems, namely those systems whose normal form is characterized by "time-dependent gains" in the "string of integrators between input and output". Such class includes helicopters, quadrotors, robot arms and electric drives. (C) 2019 Elsevier Ltd. All rights reserved.

引用

页码：178 / 183

页数：6

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