NDLI: On continuous time differentiation observers

Content Provider	IEEE Xplore Digital Library
Author	Ibrir, S. Diop, S.
Copyright Year	1999
Description	Author affiliation: Lab. des Signaux & Syst., Univ. Paris Sud, Gif-sur-Yvette, France (Ibrir, S.; Diop, S.)
Abstract	The so-called high gain observers are alternatives to the longstanding problem of estimating the state (or parameters) of general nonlinear systems. They consist of a linear infinite impulse response filter, and are made to work mainly by cranking their gain so as to overcome the adverse nonlinearities of the plant being observed. Their main point is the simplicity of the design. But they suffer from a structural drawback: by cranking the gain in order to reduce the residual estimation error, at the same time, the user is increasing the overshoots of the estimates in presence of singularities. Singularity refers here to initial conditions and measurements uncertainties. Assuming that measurement uncertainties may be adequately filtered out it remains that the inherent peaking behavior cannot be remedied without a redesign of the observer gain. In this communication we emphasize the fact that reduced peaking feature may be obtained merely by using a full dynamic gain. The gain is obtained by solving a differential equation either offline or online. The observer thus obtained is a continuous time counterpart of numerical differentiation observers which motivates the title of this communication. The observer is used to simulate the online estimation of the state variable of an academic single link flexible joint robot which involves differentiation of the measurements up to 3 times.
Starting Page	2402
Ending Page	2406
File Size	746074
Page Count	5
File Format	PDF
ISBN	9783952417355
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-08-31
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	EUCA
Subject Keyword	Estimation error Measurement uncertainty High gain observers Observers Nonlinear control systems Time measurement Noise measurement History Observer design
Content Type	Text
Resource Type	Article

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