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Nonlinear observers robust to measurement disturbances in an ISS sense
Cited 34 time in
Web of Science
Cited 38 time in Scopus
- Authors
- Issue Date
- 2016-01
- Citation
- IEEE Transactions on Automatic Control, Vol.61 No.1, pp.48-61
- Abstract
- This paper formulates and studies the concept of quasi-Disturbance-to-Error Stability (qDES) which characterizes robustness of a nonlinear observer to an output measurement disturbance. In essence, an observer is qDES if its error dynamics are input-to-state stable (ISS) with respect to the disturbance as long as the plant's input and state remain bounded. We develop Lyapunov-based sufficient conditions for checking the qDES property for both full-order and reduced-order observers. We use these conditions to show that several well-known observer designs yield qDES observers, while some others do not. Our results also enable the design of novel qDES observers, as we demonstrate with examples. When combined with a state feedback law robust to state estimation errors in the ISS sense, a qDES observer can be used to achieve output feedback control design with robustness to measurement disturbances. As an application of this idea, we treat a problem of stabilization by quantized output feedback.
- ISSN
- 0018-9286
- Language
- English
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