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首页> 外文期刊>IEEE Transactions on Automatic Control >Continuous-Discrete Time Observers for a Class of MIMO Nonlinear Systems
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Continuous-Discrete Time Observers for a Class of MIMO Nonlinear Systems

机译：一类MIMO非线性系统的连续离散时间观测器

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摘要

This technical note addresses the observer design problem for a class of continuous-time dynamical systems with non-uniformly sampled measurements. More specifically, we propose an observer that runs in continuous-time with an output error correction term that is updated in a mixed continuous-discrete fashion. The proposed observer is actually an impulsive system since it is described by a set of differential equations with instantaneous state impulses corresponding to the measured samples and their estimates. Nevertheless, we shall show that such an impulsive system can be put under the form of a hybrid system composed of a continuous-time high gain observer coupled with an inter-sample output predictor. Two design features of the proposed observer are worth emphasizing. Firstly, the observer calibration is achieved through the tuning of a scalar design parameter. Secondly, the exponential convergence to zero of the observation error is established under a well-defined condition on the maximum value of the sampling partition diameter. Simulations results involving a flexible joint robot arm are given in order to highlight the performance of the proposed observer.
机译：本技术说明解决了一类具有非均匀采样测量的连续时间动力系统的观测器设计问题。更具体地说，我们提出了一个观察者，该观察者以连续时间运行，并带有以混合连续离散方式更新的输出错误校正项。所提出的观测器实际上是一种脉冲系统，因为它是由一组微分方程描述的，瞬时状态脉冲对应于所测量的样本及其估计。尽管如此，我们将证明，这种脉冲系统可以置于混合系统的形式下，该混合系统由连续时间高增益观测器与样本间输出预测器耦合组成。建议的观察者的两个设计特征值得强调。首先，观察者校准是通过调整标量设计参数来实现的。其次，在明确定义的条件下，在采样分隔壁直径的最大值上建立观察误差的指数收敛至零。给出了涉及柔性关节机器人手臂的仿真结果，以突出建议的观察者的性能。

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