Continuous-Discrete Time Observer for a class of MIMO Nonlinear Systems
| Autor: | M. L. Fall, Mohammed M'Saad, Eric Pigeon, Olivier Gehan, Mondher Farza, Krishna Busawon |
|---|---|
| Přispěvatelé: | Référent, Greyc, Equipe Automatique - Laboratoire GREYC - UMR6072, Groupe de Recherche en Informatique, Image et Instrumentation de Caen (GREYC), Centre National de la Recherche Scientifique (CNRS)-École Nationale Supérieure d'Ingénieurs de Caen (ENSICAEN), Normandie Université (NU)-Normandie Université (NU)-Université de Caen Normandie (UNICAEN), Normandie Université (NU)-Centre National de la Recherche Scientifique (CNRS)-École Nationale Supérieure d'Ingénieurs de Caen (ENSICAEN), Normandie Université (NU), Equipe de Recherche en Physico-Chimie et Biotechnologie (ERPCB), Université de Caen Normandie (UNICAEN), Normandie Université (NU)-Normandie Université (NU) |
| Jazyk: | angličtina |
| Rok vydání: | 2013 |
| Předmět: |
0209 industrial biotechnology
Observer (quantum physics) Dynamical systems theory Differential equation Computer science Mimo nonlinear systems 02 engineering and technology Separation principle discrete time systems nonlinear control systems [SPI.AUTO]Engineering Sciences [physics]/Automatic MIMO systems 020901 industrial engineering & automation Control theory [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering 0202 electrical engineering electronic engineering information engineering Partition (number theory) State observer continuous time systems Electrical and Electronic Engineering Alpha beta filter Mathematics observers 020208 electrical & electronic engineering differential equations Computer Science Applications [SPI.AUTO] Engineering Sciences [physics]/Automatic Discrete time and continuous time Control and Systems Engineering Hybrid system 020201 artificial intelligence & image processing control system synthesis Error detection and correction [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering Mimo systems flexible manipulators |
| Zdroj: | IEEE Transactions on Automatic Control IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2014, pp.1060-1065. ⟨10.1109/TAC.2013.2283754⟩ Control Conference (ECC), 2013 European Control Conference (ECC), 2013 European, Jul 2013, Zurich, Switzerland. pp.2146-2151 ECC |
| ISSN: | 0018-9286 |
| DOI: | 10.1109/TAC.2013.2283754⟩ |
| Popis: | International audience; This technical note addresses the observer design problem for a class of continuous-time dynamical systems with non-uniformly sampled measurements. More specifically, we propose an observer that runs in continuous-time with an output error correction term that is updated in a mixed continuous-discrete fashion. The proposed observer is actually an impulsive system since it is described by a set of differential equations with instantaneous state impulses corresponding to the measured samples and their estimates. Nevertheless, we shall show that such an impulsive system can be put under the form of a hybrid system composed of a continuous-time high gain observer coupled with an inter-sample output predictor. Two design features of the proposed observer are worth emphasizing. Firstly, the observer calibration is achieved through the tuning of a scalar design parameter. Secondly, the exponential convergence to zero of the observation error is established under a well-defined condition on the maximum value of the sampling partition diameter. Simulations results involving a flexible joint robot arm are given in order to highlight the performance of the proposed observer. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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