Design of state observers from a drift-observability property

Author

Mora, Manuela Dalla ; Germani, Alfredo ; Manes, Costanzo

Author_Institution

Dipartimento di Ingegneria Elettrica, L´´Aquila Univ., Italy

Volume

45

Issue

8

fYear

2000

fDate

8/1/2000 12:00:00 AM

Firstpage

1536

Lastpage

1540

Abstract

In this paper, the problem of state observation with exponential error decay for nonlinear systems affine in the input is considered and an observer is proposed. For such an observer, the drift-observability property of the system (i.e., observability for zero input), together with an assumption on the input amplitude or on the observation relative degree, are sufficient conditions for exponential convergence of the observation error. The existence of an exponential observer is correlated to the existence of a solution for an H_∞ Riccati-like inequality. Global and semiglobal convergence results are presented

Keywords

H^∞ optimisation; Riccati equations; convergence; correlation methods; nonlinear systems; observers; H_∞ Riccati-like inequality; affine nonlinear systems; drift-observability property; exponential convergence; exponential error decay; global convergence results; input amplitude; observation relative degree; semiglobal convergence results; state observer design; Geometry; Jacobian matrices; Linear systems; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Observability; Observers; Riccati equations; Sufficient conditions;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.871767

Filename

871767