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AUTOMATICA
2005

Robust state observer and control design using command-to-state mapping

10 years 4 months ago
Robust state observer and control design using command-to-state mapping
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 rese...
Zhihua Qu
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2005
Where AUTOMATICA
Authors Zhihua Qu
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