TY - JOUR
T1 - Reduced-order fast converging observers for systems with discrete measurements and measurement error
AU - Mazenc, Frédéric
AU - Malisoff, Michael
AU - Jiang, Zhong Ping
N1 - Funding Information:
Supported by US National Science Foundation Grants 1903781 (Jiang) and 1711299 (Malisoff). The authors thank Mr. Leilei Cui for assisting with the simulations in Section 5. Special cases of this work were accepted to appear in the conference paper [1] ; see Section 1 for a comparison between this work and the conference version.
Publisher Copyright:
© 2021 Elsevier B.V.
PY - 2021/4
Y1 - 2021/4
N2 - We provide novel reduced-order observer designs for continuous-time nonlinear systems with measurement error. Our first result applies to systems with continuous output measurements, and provides observers that converge in a fixed finite time that is independent of the initial state when the measurement error is zero. Our second result applies under discrete measurements, and provides observers that converge asymptotically with a rate of convergence that is proportional to the negative of the logarithm of the size of a sampling interval. Our observers satisfy an enhanced input-to-state stability property with respect to the measurement error, in which an overshoot term only depends on a recent history of the measurement error. We illustrate our observers using a model of a single-link robotic manipulator coupled to a DC motor with a nonrigid joint, and in a pendulum example.
AB - We provide novel reduced-order observer designs for continuous-time nonlinear systems with measurement error. Our first result applies to systems with continuous output measurements, and provides observers that converge in a fixed finite time that is independent of the initial state when the measurement error is zero. Our second result applies under discrete measurements, and provides observers that converge asymptotically with a rate of convergence that is proportional to the negative of the logarithm of the size of a sampling interval. Our observers satisfy an enhanced input-to-state stability property with respect to the measurement error, in which an overshoot term only depends on a recent history of the measurement error. We illustrate our observers using a model of a single-link robotic manipulator coupled to a DC motor with a nonrigid joint, and in a pendulum example.
KW - Discrete measurements
KW - Finite time
KW - Reduced-order observer
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U2 - 10.1016/j.sysconle.2021.104892
DO - 10.1016/j.sysconle.2021.104892
M3 - Article
AN - SCOPUS:85101514595
VL - 150
JO - Systems and Control Letters
JF - Systems and Control Letters
SN - 0167-6911
M1 - 104892
ER -