Title :
Hybrid quantised observer for multi-input-multi-output nonlinear systems
Author :
Fradkov, Alexander L. ; Andrievsky, Boris ; Evans, Robin J.
Author_Institution :
Control of Complex Syst. Lab., Russian Acad. of Sci., St. Petersburg
Abstract :
Limit possibilities of state estimation under information constraints (limited information capacity of the coupling channel) for multi-input-multi-output (MIMO) nonlinear systems are evaluated. We give theoretical analysis for state estimation of nonlinear systems represented in Lurie form (linear part plus nonlinearity depending only on measurable outputs) with a first-order coder-decoder. It is shown that the upper bound of the limit estimation error is proportional to the upper bound of the transmission error. As a consequence, the upper bound of limit estimation error is proportional to the maximum rate of the coupling signal and inversely proportional to the information transmission rate (channel capacity). The results are applied to state estimation of a nonlinear self-excited mechanical oscillator and a reaction-wheel pendulum.
Keywords :
MIMO systems; nonlinear control systems; observers; oscillators; pendulums; Lurie; channel capacity; first-order coder-decoder; hybrid quantised observer; limit estimation error; multiinput multioutput nonlinear systems; nonlinear self-excited mechanical oscillator; reaction-wheel pendulum; state estimation; Channel capacity; Codecs; Couplings; Estimation error; MIMO; Nonlinear systems; Observers; Oscillators; State estimation; Upper bound; Communication constraints; Hybrid observer; Nonlinear dynamics; State estimation;
Conference_Titel :
Control Applications, 2008. CCA 2008. IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
978-1-4244-2222-7
Electronic_ISBN :
978-1-4244-2223-4
DOI :
10.1109/CCA.2008.4629572