Title

Robust State Observer And Control Design Using Command-To-State Mapping

Keywords

Generalized algebraic Lyapunov equation; Jacobian matrix; Lyapunov direct method; Lyapunov stability; Matrix Lyapunov equation; Observer Lyapunov function; Robust nonlinear control; Robust observer; Robust state estimation

Abstract

In this paper, by introducing the concept of command-to-state/output mapping, it is shown that the state of an uncertain nonlinear system can robustly be estimated if command-to-state mapping of the system and that of an uncertainty-free observer converge to each other. Then, a global Jacobian system is defined to capture this convergence property for the dynamics of estimation error, and a set of general stability and convergence conditions are derived using Lyapunov direct method. It is also shown that the conditions are constructive and can be reduced to an algebraic Lyapunov matrix equation by which nonlinear feedback in the observer and its corresponding Lyapunov function can be searched in a way parallel to those of nonlinear control design. Case studies and examples are used to illustrate the proposed observer design method. Finally, observer-based control is designed for systems whose uncertainties are generated by unknown exogenous dynamics. © 2005 Elsevier Ltd. All rights reserved.

Publication Date

8-1-2005

Publication Title

Automatica

Volume

41

Issue

8

Number of Pages

1323-1333

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1016/j.automatica.2005.03.021

Socpus ID

20344390773 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/20344390773

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