Design of robust descriptor observer with application to robotic systems
| Autor: | Song Li, Dongyeop Kang, Hea-Min Lee |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
020901 industrial engineering & automation Robotic systems Observer (quantum physics) Control and Systems Engineering Computer science Control theory 0202 electrical engineering electronic engineering information engineering Linear matrix inequality 020201 artificial intelligence & image processing 02 engineering and technology |
| Zdroj: | SyRoCo |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2018.11.523 |
| Popis: | This paper addresses a problem of robust H∞ observer design for discrete-time descriptor systems. First, a bounded real lemma which is used for observer design is proposed. Then, a method of designing a robust H∞ observer is proposed by applying the derived bounded real lemma. Initial solution of the observer design problem is obtained by solving a linear matrix inequality and an iterative procedure is proposed to improve H∞ performance. Numerical examples of robotic systems are presented to illustrate the effectiveness of the proposed design procedure. |
| Databáze: | OpenAIRE |
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