Artigo em periódicoOpen Access
A sufficient condition to design unknown input observers for nonlinear systems with arbitrary relative degree
9COUTINHO, Pedro Henrique Silva2022COUTINHO, Pedro Henrique Silva; BESSA, Iury Valente; XIE, Wenbo; NGUYEN, Anh-Tu; PALHARES, Reinaldo Martinez
Resumo
Resumo
Abstract This article addresses the problem of state and unknown inputs (UIs) estimation for nonlinear systems with arbitrary relative degree with respect to the UIs. For this purpose, a novel nonlinear unknown input observer (UIO) is proposed, which is able to decouple the UIs by using the derivatives of the output signal. The error dynamics is attained by an exact handling and a factorization of its gradient to obtain a local polytopic representation suitable for input‐affine nonlinear systems. For that representation, a novel design condition based on convex optimization and linear matrix inequalities is proposed to exponentially stabilize the estimation error and to guarantee the validity of the proposed nonlinear UIO. Numerical simulations indicate the effectiveness of the proposed approach for different classes of nonlinear systems, for which the UIs could be totally decoupled from the state estimation.
Autoria
Autores do grupo (1)
A lista completa de autores está no topo da página. Abaixo, apenas os pesquisadores do e-Controls vinculados a esta publicação.
palavras-chave
Palavras-chave
unknown input observernonlinear systemsarbitrary relative degreeunknown input estimationstate estimationinput-affine systemslinear matrix inequalitiesconvex optimizationexponential stability
Volume
32
Número
15
Páginas
8331-8348
Editora
Wiley
Status
Published
links
Links e arquivos
Artigo em periódico