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Communication Dans Un Congrès Année : 2022

New Finite-Time and Fast Converging Obs. with a Single Delay

Résumé

We provide new reduced order observer designs for a key class of nonlinear dynamics. When continuous output measurements are available, we prove that our observers converge in a fixed finite time in the absence of perturbations, and we prove a robustness result under uncertainties in the output measurements and in the dynamics, which bounds the observation error in terms of bounds on the uncertainties. The observers contain a dynamic extension with only one pointwise delay, and they use the observability Gramian to eliminate an invertibility condition that was present in earlier finite time observer designs. We also provide analogs for cases where the measurements are only available at discrete times, where we prove exponential input-to-state stability. We illustrate the advantages of our new observers using a DC motor dynamics.

Domaines

Automatique
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Dates et versions

hal-03711677 , version 1 (01-07-2022)

Identifiants

  • HAL Id : hal-03711677 , version 1

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Frédéric Mazenc, Michael Malisoff. New Finite-Time and Fast Converging Obs. with a Single Delay. 2022 American Control Conference (ACC 2022), Jun 2022, Atlanta, United States. ⟨hal-03711677⟩
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