Nonlinear observer design by dynamic observer error linearization

Daejong Noh; Jo N.H.; Seo J.H.

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Nonlinear observer design by dynamic observer error linearization

机译：动态观测器误差线性化的非线性观测器设计

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In this note, we address the problem of transforming a nonlinear system into nonlinear observer canonical form in the extended state-space with the aid of dynamic system extension and introduction of virtual outputs. As an intermediate step for the general problem, we consider a restricted structure of dynamic extension, which is obtained, roughly speaking, by adding the chains of integrators to the outputs of original system. We propose sufficient conditions which can be verified using the system dynamics expressed in their original coordinates. An illustrative example is included that demonstrates the advantage of the proposed method over the conventional method.

机译：在本说明中，我们解决了借助动态系统扩展和虚拟输出的引入在扩展状态空间中将非线性系统转换为非线性观察者规范形式的问题。作为一般问题的中间步骤，我们考虑动态扩展的受限结构，粗略地说，这是通过将积分器链添加到原始系统的输出中而获得的。我们提出了足够的条件，可以使用以其原始坐标表示的系统动力学来进行验证。包括一个说明性示例，该示例演示了所提出方法相对于常规方法的优势。

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《IEEE Transactions on Automatic Control》 |2004年第10期|p.1746-1753|共8页
作者
Daejong Noh; Jo N.H.; Seo J.H.;
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原文格式 PDF
正文语种 eng
中图分类自动化系统;
关键词
linearisation techniques; nonlinear control systems; observers; state-space methods; dynamic observer error linearization; dynamic system extension; extended state space method; nonlinear observer design; Dynamic observer error linearization; nonlinear observer; n;

机译：线性化技术非线性控制系统观测器状态空间方法动态观测器误差线性化动态系统扩展扩展状态空间方法非线性观测器设计动态观测器误差线性化非线性观测器n;

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1. Observer design for nonlinear discrete-time systems: Immersion and dynamic observer error linearization techniques [J] . Zhang J, Feng G, Xu HB International Journal of Robust and Nonlinear Control . 2010,第5期

机译：非线性离散时间系统的观测器设计：浸入式和动态观测器误差线性化技术
2. Design of nonlinear observers with approximately linear error dynamics using multivariable Legendre polynomials [J] . Deutscher J, Bauml M International Journal of Robust and Nonlinear Control . 2006,第15期

机译：使用多元勒让德多项式设计具有近似线性误差动力学的非线性观测器
3. Nonlinear discrete-time observer design with linearizable error dynamics [J] . MingQing Xiao, Kazantzis N., Kravaris C., IEEE Transactions on Automatic Control . 2003,第4期

机译：具有线性化误差动态的非线性离散时间观测器设计
4. A new nonlinear discrete-time observer design method with linearizable error dynamics [C] . MingQing Xiao, Kazantzis Nikolaos, Kravaris Costas European Control Conference . 2007

机译：具有线性化误差动态的非线性离散时间观测器设计新方法
5. Nonlinear observer synthesis and error linearization. [D] . Lynch, Alan Francis. 1999

机译：非线性观测器综合和误差线性化。
6. Observability Analysis and Observer Design for a Nonlinear Three-Tank System: Theory and Experiments [O] . Santiago Rúa, Rafael E. Vásquez, Naveen Crasta, 2020

机译：非线性三箱系统的可观察性分析与观测器设计：理论与实验
7. Nonlinear Discrete-Time Observer Design with Linearizable Error Dynamics [O] . MingQing Xia, Nikolaos Kazantzis, Costas Kravaris, 2001

机译：具有线性化误差动态的非线性离散时间观测器设计
8. Nonlinear Observers for Gyro Calibration Coupled with a Nonlinear Control Algorithm [R] . Thienel, J. , Sanner, R. M. 2005

机译：非线性控制算法的陀螺校准非线性观测器

Nonlinear observer design by dynamic observer error linearization

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