A new state observer for perspective systems

Author

Chen, Xinkai ; Kano, Hiroyuki

Author_Institution

Dept. of Intelligent Mech., Kinki Univ., Wakayama, Japan

Volume

47

Issue

4

fYear

2002

fDate

4/1/2002 12:00:00 AM

Firstpage

658

Lastpage

663

Abstract

In this note, we consider the problem of estimating the state of a class of perspective systems. The problem can be converted into the observation of a dynamical system with nonlinearities. A new discontinuous state observer, which is motivated by the sliding mode control method and adaptive techniques, is proposed for the obtained dynamical system. The assumptions are reasonable, and the convergence conditions are intuitive and have apparently physical interpretations. The attraction of the new method is that the algorithm is very simple and easy to be implemented, and it is robust to measurement noises. Further, minor a priori knowledge of the system is required in the new formulation. Simulation results show the superiority of the new method to the traditional ones

Keywords

computer vision; convergence; nonlinear dynamical systems; observers; variable structure systems; adaptive techniques; convergence conditions; discontinuous state observer; machine vision; measurement noise robustness; nonlinear dynamical system; nonlinear observer; nonlinear system identification; perspective systems; sliding mode control method; state estimation; state observer; Assembly; Automata; Automatic control; Control system synthesis; Costs; Joining processes; Process control; Robust control; Robustness; Sufficient conditions;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.995045

Filename

995045