Finite Dimensional Observers and Controllers for Nonlinear Systems
نویسندگان
چکیده
The relation between L 2 ?gain and nite dimensional nonlinear observers is investigated. It is shown that suitable choices of supply rates render nite dimensional minimum energy, minimum energy certainty-equivalence, and minmax observers for nonlinear systems. The gains of these observers are analogous of the error covariance of the Kalman-Filter. They are derived by solving explicitly Hamilton-Hacobi-Issacs equations. The implications of these results in designing nite dimensional controllers for nonlinear H 1 control problems are delineated. It is shown that for large classes of nonlinear systems, minmax and certainty-equivalence controllers are equivalent.
منابع مشابه
Design of Nonlinear Robust Controller and Observer for Control of a Flexible Spacecraft
Two robust nonlinear controllers along with a nonlinear observer have been developed in this study to control a 1D nonlinear flexible spacecraft. The first controller is based on dynamic inversion, while the second one is composed of dynamic inversion and µ-synthesis controllers. The extension of dynamic inversion approach to flexible spacecraft is impeded by the non-minimum phase characteristi...
متن کاملDesign of Robust Finite-Time Nonlinear Controllers for a 6-DOF Autonomous Underwater Vehicle for Path Tracking Objective
In this paper, kinematic and dynamic equations of a 6-DOF (Degrees Of Freedom) autonomous underwater vehicle (6-DOF AUV) are introduced and described completely. By developing the nonsingular terminal sliding mode control method, three separate groups of control inputs are proposed for the autonomous underwater vehicle subjected to uncertainties including parametric uncertainties, unmodeled dyn...
متن کاملFinite- dimensional optimal controllers for nonlinear plants
Optimal risk sensitive feedback controllers are now available for very general stochastic nonlinear plants and performance indices. They consist of nonlinear static feedback of so called information states from an information state filter. In general, these filters are linear, but infinite dimensional, and the information state feedback gains are derived from (doubly ) infinite dimensional dyna...
متن کاملInterval peak-to-peak observers for continuous- and discrete-time systems with persistent inputs and delays
Interval observers have been the subject of an increased attention over the recent years. The vast majority of the recent works only focus on the design of such observers, but not their optimization. We partially fill this gap by considering the design of interval observers that minimize the L∞-gain of the linear operator mapping the persistent inputs to the observed outputs. While determining ...
متن کاملUsing Tracking Differentiators in Designing Nonlinear Disturbance Observers for Uncertain Systems
Using Tracking Differentiators in Designing Nonlinear Disturbance Observers for Uncertain SystemsNaser Kazemzadeh, Saeed BarghandanAbstractIn the present paper, a practical designing method has been proposed for a novel class of NDOs based on TD. Such NDOs can nearly estimate all uncertain disturbances (specifically disturbances without prediction information). Regarding the outstanding perform...
متن کامل