Unknown input observer design for one-sided Lipschitz nonlinear systems

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• 作者：Wei Zhang (1)
  Housheng Su (2)
  Fanglai Zhu (3)
  Ghassan M. Azar (4)
  
  1. Laboratory of Intelligent Control and Robotics ; Shanghai University of Engineering Science ; Shanghai ; 201620 ; China
  2. School of Automation ; Image Processing and Intelligent Control Key Laboratory of Education Ministry of China ; Huazhong University of Science and Technology ; Wuhan ; 430074 ; China
  3. College of Electronics and Information Engineering ; Tongji University ; Shanghai ; 200092 ; China
  4. Department of Mathematics and Computer Science ; Lawrence Technological University ; Southfield ; MI ; 48075 ; USA
  
• 关键词：Unknown input observer ; One ; sided Lipschitz nonlinear systems ; Full ; order observers ; Reduced ; order observers
• 刊名：Nonlinear Dynamics
• 出版年：2015
• 出版时间：January 2015
• 年：2015
• 卷：79
• 期：2
• 页码：1469-1479
• 全文大小：403 KB
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• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems and Control
  Mechanics
  Mechanical Engineering
  Automotive and Aerospace Engineering and Traffic
  
• 出版者：Springer Netherlands
• ISSN：1573-269X

文摘

This paper considers the observer design problem for one-sided Lipschitz nonlinear systems with unknown inputs. The systems under consideration are a larger class of nonlinearities than the well-studied Lipschitz systems and have inherent advantages with respect to conservativeness. For such systems, we first propose a full-order nonlinear unknown input observer (UIO) by using the linear matrix inequality (LMI) approach. Following a similar design procedure and using state transformation, the reduced-order nonlinear UIO is also constructed. Sufficient conditions to guarantee existence of full-order and reduced-order UIOs are established by carefully considering the one-sided Lipschitz condition together with the quadratic inner-bounded condition. Based on the matrix generalized inverse technique, the UIO conditions are formulated in terms of LMIs. Moreover, the proposed observers are applied to a single-link flexible joint robotic system with unknown inputs. Simulation results are finally given to illustrate the effectiveness of the proposed design.