The response of observer based regulators designed by the separation principle

Author

Polotski, Vladimir

Author_Institution

Groupe de Recherche en Perception et Robotique, Ecole Polytech. de Montreal, Que., Canada

Volume

2

fYear

1996

fDate

26-29 May 1996

Firstpage

505

Abstract

Transition processes in the system incorporating an observer are analyzed. The symmetry of transition matrix with respect to the eigenvalues assigned for controller and observer is proved using state space methods. The interrelation with peaking phenomenon is discussed, and the asymptotic behavior of the system for the case of fast observer dynamics is investigated. Some illustrative examples and application to the tracking control of an autonomous vehicle are presented

Keywords

eigenvalues and eigenfunctions; matrix algebra; mobile robots; observers; pole assignment; robot dynamics; state feedback; state-space methods; tracking; SISO systems; autonomous vehicle; dynamics; eigenvalues; mobile robots; observer based regulators; output feedback; peaking phenomenon; pole assignment; separation principle; state feedback; state space methods; symmetry; tracking control; transition matrix; Control systems; Eigenvalues and eigenfunctions; Interconnected systems; Mobile robots; Observers; Regulators; State estimation; State feedback; State-space methods; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering, 1996. Canadian Conference on

Conference_Location

Calgary, Alta.

ISSN

0840-7789

Print_ISBN

0-7803-3143-5

Type

conf

DOI

10.1109/CCECE.1996.548201

Filename

548201