NDLI: Design of a prescribed convergence time uniform Robust Exact Observer in the presence of measurement noise

Content Provider	IEEE Xplore Digital Library
Author	Fraguela, L. Angulo, M.T. Moreno, J.A. Fridman, L.
Copyright Year	2012
Description	Author affiliation: Computación y Electrónica, Instituto de Ingeniería, Universidad Nacional Autónoma de México, 04510, México, D.F. (Moreno, J.A.) \|\| Facultad de Ingeniería, División de Ingeniería Eléctrica, Departamento de Ingeniería de Control y Robótica, Universidad Nacional Autónoma de México, 04510, México, D.F. (Fraguela, L.; Angulo, M.T.; Fridman, L.)
Abstract	In practice, any observer is expected to have small convergence time and high precision despite the presence of disturbances. Decreasing the convergence time usually requires to increase the overall gain of the observer. However, this also amplifies the effect of the noise and deteriorates the precision. This trade-off is studied in this paper for the Uniform Robust Exact Observer for mechanical systems: an observer with uniform convergence with respect to the initial condition. In addition, a method to compute its gains is presented guaranteeing a prescribed convergence time while keeping the best possible precision under measurement noise. A simulation example comparing the performance of the uniform observer with respect to a linear one is presented.
Starting Page	6615
Ending Page	6620
File Size	511260
Page Count	6
File Format	PDF
ISBN	9781467320658
ISSN	07431546
e-ISBN	9781467320665
e-ISBN	9781467320641
DOI	10.1109/CDC.2012.6426147
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Convergence Observers Noise Noise measurement Optimized production technology Equations Mathematical model
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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