Observer-based hybrid feedback: a local separation principle

Author

Teel, A.R.

Author_Institution

Electr. & Comput. Eng. Dept., Univ. of California, Santa Barbara, CA, USA

fYear

2010

fDate

June 30 2010-July 2 2010

Firstpage

898

Lastpage

903

Abstract

Asymptotic stability of a closed-loop feedback system is analyzed, where the plant is a continuous-time system and the feedback controller is a hybrid dynamical system. The feedback controller is derived in two steps: first a hybrid, full-state feedback controller is constructed; then the feedback is implemented by replacing unmeasured states with estimates that come from an observer. The observer is allowed to be a hybrid dynamical system. A local separation principle is obtained for the case where there are no purely discrete-time solutions for the observer nor for the ideal state feedback. In this case, if the hybrid state feedback is asymptotically stabilizing, and the hybrid observer produces accurate state estimates asymptotically, then the output-feedback hybrid controller achieves local asymptotic stability.

Keywords

asymptotic stability; closed loop systems; continuous time systems; nonlinear dynamical systems; observers; state feedback; closed-loop feedback system; continuous-time system; full-state feedback controller; hybrid dynamical system; hybrid state feedback; local asymptotic stability; local separation principle; observer-based hybrid feedback; Adaptive control; Asymptotic stability; Control systems; Nonlinear control systems; Nonlinear systems; Observers; Output feedback; State estimation; State feedback; State-space methods;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2010

Conference_Location

Baltimore, MD

ISSN

0743-1619

Print_ISBN

978-1-4244-7426-4

Type

conf

DOI

10.1109/ACC.2010.5530471

Filename

5530471