期刊
CIRCUITS SYSTEMS AND SIGNAL PROCESSING
卷 37, 期 9, 页码 3725-3738出版社
SPRINGER BIRKHAUSER
DOI: 10.1007/s00034-018-0745-4
关键词
Observer design; Nonlinear systems; Reduced-order observers; Incremental quadratic constraints; Linear matrix inequalities
资金
- National Natural Science Foundation of China [51505273]
- State Key Laboratory of Robotics and System (HIT) [SKLRS-2014-MS-10]
- Jiangsu Provincial Key Laboratory of Advanced Robotics Fund Projects [JAR201401]
- Fund of MOE Key Laboratory of Image Processing and Intelligence Control (Huazhong University of Science and Technology) [IPIC2015-02]
This paper considers the design problem of exponential reduced-order observers for nonlinear systems satisfying incremental quadratic constraints governed by an incremental multiplier matrix. Sufficient existence conditions of the exponential full-order observers are established and formulated in terms of matrix inequalities. Then, it is shown that the conditions under which an exponential full-order observer exists also guarantee the existence of an exponential reduced-order observer. Moreover, with a proper parameterization of the multiplier matrix, the design of reduced-order observers is reduced to solving linear matrix inequalities of the Lyapunov matrix and observer gain matrices. Finally, the effectiveness of the proposed design method is illustrated by an example.
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