Time-varying high-gain trajectory linearization observer design

Author

Huang, Rui ; Zhu, J.J.

Author_Institution

Sch. of Electr. Eng. & Comput. Sci., Ohio Univ., Athens, OH, USA

fYear

2009

fDate

10-12 June 2009

Firstpage

4628

Lastpage

4635

Abstract

In this paper, we extend the previous results on trajectory linearization observer (TLO) for SISO to MIMO nonlinear time-varying (NLTV) systems, and extend the highgain observer theory for linear time-invariant (LTI) observer error dynamics to linear time-varying (LTV) observer error dynamics, using the (time-varying) PD-eigenvalue assignment method. In addition, the time-varying high gain TLO alleviates the slowly varying restriction, and relaxes the restriction of existing time-invariant nonlinear high gain observer to affine nonlinear systems to allow for any linearizable NLTV system.

Keywords

MIMO systems; PD control; continuous systems; eigenvalues and eigenfunctions; linear systems; linearisation techniques; nonlinear control systems; observers; position control; robust control; state feedback; time-varying systems; MIMO nonlinear time-varying system; PD-eigenvalue assignment method; linear time-invariant observer error dynamics; linear time-varying observer error dynamics; numerical analysis; robust control; state feedback performance; time-varying high-gain trajectory linearization observer design; Error correction; Linear systems; MIMO; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Output feedback; Stability; State feedback; Time varying systems; MIMO; TLO; linear time-varying; nonlinear observer; nonlinear systems; trajectory linearization;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2009. ACC '09.

Conference_Location

St. Louis, MO

ISSN

0743-1619

Print_ISBN

978-1-4244-4523-3

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2009.5160252

Filename

5160252