Robust deadbeat continuous-time observer design based on modulation integrals
Robust deadbeat continuous-time observer design based on modulation integrals
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DOI：
10.1016/j.automatica.2019.04.048
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发表时间：
2019-09
期刊：
影响因子：
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通讯作者：
Gilberto Pin;Boli Chen-;T. Parisini
中科院分区：
文献类型：
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作者：
Gilberto Pin;Boli Chen-;T. Parisini
在本文中，线性连续时间系统的状态估计问题通过非渐近状态观测器来处理，该观测器允许状态估计误差在任意小的有限时间内衰减，而无需求助于高增益注入。通过对测量的输入和输出信号进行调制积分处理，得到许多不受初始条件影响的辅助信号，从中可以通过简单的代数计算出系统状态。通过采用周期性重新调整机制来解决调制积分的内部不稳定性问题，该机制可防止误差累积和奇异性。我们证明了调制积分与周期性重新缩放的组合可以实现为跳跃线性系统。所设计的方法对于系统输入/输出的附加测量扰动的鲁棒性由输入到状态稳定性参数来表征。
In this paper, the state estimation problem of linear continuous-time systems is dealt with by a non-asymptotic state observer, which allows the state estimation error to decay within an arbitrarily-small finite time without resorting to high-gain injection. By processing the measured input and output signals through modulation integrals, a number of auxiliary signals not affected by the initial conditions are obtained, from which the system state can be computed by simple algebra. The problem of internal instability of modulation integrals is addressed by resorting to a periodic rescaling mechanism that prevents error accumulation and singularities. We show that the combination of modulation integrals with periodic rescaling can be implemented as a jump-linear system. The robustness of the devised method with respect to additive measurement perturbations on the system’s input/output is characterized by Input-to-State Stability arguments.