Observer design for a class of nonlinear systems
作者:
SEKHAR RAGHAVAN,
J.KARL HEDRICK,
期刊:
International Journal of Control
(Taylor Available online 1994)
卷期:
Volume 59,
issue 2
页码: 515-528
ISSN:0020-7179
年代: 1994
DOI:10.1080/00207179408923090
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
A viable design methodology to construct observers for a class of nonlinear systems is developed. The proposed technique is based on the off-line solution of a Riccati equation, and can be solved using commercially available software packages. For globally valid results, the class of systems considered is characterized by globally Lipschitz nonlinearities. Local results relax this assumption to only a local requirement. For a more general description of nonlinear systems, the methodology yields approximate observers, locally. The proposed theory is used to design an observer for a single-link flexible joint robot. This observer estimates the robot link variables based on the joint measurements.
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