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Nonlinear Observers Robust to Measurement Disturbances in an ISS Sense.
- Source :
- IEEE Transactions on Automatic Control; Jan2016, Vol. 61 Issue 1, p48-61, 14p
- Publication Year :
- 2016
-
Abstract
- This paper formulates and studies the concept of quasi-Disturbance-to-Error Stability (qDES) which characterizes robustness of a nonlinear observer to an output measurement disturbance. In essence, an observer is qDES if its error dynamics are input-to-state stable (ISS) with respect to the disturbance as long as the plant's input and state remain bounded. We develop Lyapunov-based sufficient conditions for checking the qDES property for both full-order and reduced-order observers. We use these conditions to show that several well-known observer designs yield qDES observers, while some others do not. Our results also enable the design of novel qDES observers, as we demonstrate with examples. When combined with a state feedback law robust to state estimation errors in the ISS sense, a qDES observer can be used to achieve output feedback control design with robustness to measurement disturbances. As an application of this idea, we treat a problem of stabilization by quantized output feedback. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 61
- Issue :
- 1
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 111983189
- Full Text :
- https://doi.org/10.1109/TAC.2015.2423911