An approximate observer for a class of nonlinear systems
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Cited by (51)
Neuro-adaptive observer based control of flexible joint robot
2018, NeurocomputingCitation Excerpt :Thus, observers which can estimate the state variables unmeasurable are necessary. Conventional nonlinear observers are generally applicable to systems whose models are precisely known [24,25], while we consider systems with unknown models. Neural network has become a powerful tool for state observation with uncertain models.
A hybrid scheme for reducing peaking in high-gain observers for a class of nonlinear systems
2016, AutomaticaCitation Excerpt :We revisit high-gain observer designs within the hybrid dynamical systems framework of Goebel, Sanfelice, and Teel (2009, 2012) and, for a family of nonlinearly interconnected second order plants, we propose a hybrid high-gain observer having the novel feature of not exhibiting peaking when the (high) gain of the observer is increased. In particular, the observers that we propose comprise a flow dynamics (continuous-time evolution) which essentially coincides with the original continuous-time high-gain observer of Esfandiari and Khalil (1992), Khalil (1999) and Nicosia et al. (1989), augmented with a suitable resetting rule enforced on the observer state. Such a scheme ensures that trajectories approaching a region of the state space where peaking occurs, are projected in another region where peaking is absent.
High-gain observers for nonlinear systems with trajectories close to unobservability
2014, European Journal of ControlCitation Excerpt :The problem of obtaining state estimates for nonlinear systems is a very challenging field of research, and has been continuously attracting the attention of many researchers in the area of control theory in the past few decades, both for its intrinsic value and for the possible use of the state estimates for control purposes. Without any claim to be complete, some of the main contributions (not adopting high-gain structure) can be found in [2,4,7,12,13,35,39–41,47–49,58,67–69]; such works, and references therein, often include discussions on different concepts and definitions related to the problem of state-estimation. Starting from similar ideas adopted in the analysis of singularly perturbed systems [38], the use of high-gain in the observer design for nonlinear systems has been introduced in the late 1980s and early 1990s, from theoretical [9,15,16,64,65] and applicative [21,50–52] points of view; as an application of high-gain observer in control applications, in [63], Teel and Praly combined results from Tornambe [66] and Esfandiari and Khalil [16] to give the first non-local separation principle for nonlinear systems (see [32]).
Real-time implementation of Chebyshev neural network observer for twin rotor control system
2011, Expert Systems with ApplicationsCitation Excerpt :For single-input–single-output (SISO) linear time invariant plants, the adaptive observer design has been largely investigated (Ioannou & Sun, 1995; Narendra & Annaswamy, 1989) and the references therein. Several conventional nonlinear observers such as high gain observers and sliding mode observers (Jo & Seo, 2000; Nicosia, Tomei, & Tornambe, 1989; Nicosia & Tornambe, 1989) are only applicable to systems with specific model structures. However, for most practical processes, defining an exact model is a hard task or is not possible at all.
Design of state detectors for nonlinear systems using symmetries and semi-invariants
2011, Systems and Control LettersCitation Excerpt :The problem of obtaining state estimates for nonlinear systems is a very challenging field of research, and has continuously attracted the attention of many researchers in the area of control theory in the past decades, both for its intrinsic value and for the possible use of state estimates for control purposes. Without any claim to be complete, some of the main contributions can be found in [1–18]; such works, and references therein, often include discussions on different concepts and definitions related to the problem of state estimation. It was already recognized in [19] that state detectors can be used for control (in particular for stabilization) even though they do not guarantee for the state estimates all the properties guaranteed by state observers.
Nonlinear H∞ measurement feedback control of Euler-Lagrange systems
2005, IFAC Proceedings Volumes (IFAC-PapersOnline)