- Title
- Observers and invariant sets for lure-type nonlinear systems using LPV-embedding
- Creator
- Hanafi, Ainain N.; Seron, Maria M.; De Doná, José L.
- Relation
- 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV). Proceedings of the 2018 15th International Conference on Control, Automation, Robotics and Vision (Singapore 18-21 November, 2018) p. 680-685
- Publisher Link
- http://dx.doi.org/10.1109/ICARCV.2018.8581267
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2018
- Description
- This paper deals with observers for Lure-type nonlinear systems designed so that the associated estimation error dynamics are bounded in an invariant set. The design uses the LPV-embedding technique, whereby the nonlinearity is redefined in terms of a time-varying parameterised linear function, called the `LPV parameter'. For LPV parameters with bounded variation, invariant sets for the original nonlinear system are computed by embedding the LPV system into a convex polytopic description. The trajectories of the estimation error are guaranteed to be bounded and remain in the computed invariant set, which exists if a condition in terms of the system matrices and parameters is satisfied. We show that arbitrarily small estimation error bounds can be achieved for some classes of systems. We illustrate the results via a simulation example of a flexible manipulator.
- Subject
- eigenvalues; eigenfunctions; estimation error; observers; nonlinear systems; trajectory; perturbation methods
- Identifier
- http://hdl.handle.net/1959.13/1404887
- Identifier
- uon:35407
- Identifier
- ISBN:9781538695821
- Rights
- © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
- Language
- eng
- Full Text
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