<i>H</i>_∞ dynamic observers for a class of nonlinear systems with unknown inputs

2019/03/25 by Latifa Boutat-Baddas, Latifa Boutat‐Baddas, Gloria-Lilia Osorio-Gordillo +2 · 1 citation
Engineering · #Adaptive Control of Nonlinear Systems #Advanced Control Systems Optimization #Stability and Control of Uncertain Systems

paper · doi:10.1080/00207179.2019.1600031

Abstract

This paper presents a new approach to H∞ observer design for a class of nonlinear systems with unknown inputs. The considered systems are composed of a linear part perturbed by an additive Lipschitz nonlinearity in the presence of unknown inputs and disturbances. Our objective is to present a dynamical observer which generalises the Luenberger observer, called also the Proportional Observer (PO), and the Proportional-Integral Observer (PIO). The advantages of this observer are its robustness with respect to uncertainties and modelling errors and its steady-state accuracy. The presented method also unifies the reduced and the full-order design. An example using a one-link-flexible joint robot is given to illustrate our approach.

Citations

• Disturbance attenuation using proportional integral observers

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• Observer design method for nonlinear generalized systems with nonlinear algebraic constraints with applications

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