2020/12/11 by Bowen Yi, Ruigang Wang, Yi, Bowen +3
Biochemistry, Genetics and Molecular Biology · Engineering · #ATP Synthase and ATPases Research #Adaptive Control of Nonlinear Systems #Control and Stability of Dynamical Systems #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2012.06158
openalex publication_date 2020/12/11 · openalex created_date 2020/12/21 · openalex updated_date 2026/07/28
In this paper, we propose a new approach to design globally convergent reduced-order observers for nonlinear control systems via contraction analysis and convex optimization. Despite the fact that contraction is a concept naturally suitable for state estimation, the existing solutions are either local or relatively conservative when applying to physical systems. To address this, we show that this problem can be translated into an off-line search for a coordinate transformation after which the dynamics is (transversely) contracting. The obtained sufficient condition consists of some easily verifiable differential inequalities, which, on one hand, identify a very general class of "detectable" nonlinear systems, and on the other hand, can be expressed as computationally efficient convex optimization, making the design procedure more systematic. Connections with some well-established approaches and concepts are also clarified in the paper. Finally, we illustrate the proposed method with several numerical and physical examples, including polynomial, mechanical, electromechanical and biochemical systems.