Robust state estimation for a class of uncertain nonlinear systems: Comparison of two approaches.
In this paper, two approaches for robust state estimation of a class of Lipschitz nonlinear systems are proposed. First, a novel Unknown Input Observer (UIO) is designed without observer matching condition satisfaction. Then, an H∞observer for approximate disturbance decoupling is proposed. Sufficient conditions for the existence of both proposed observers are derived based on a Lyapunov function. The achieved conditions are formulated in terms of a set of linear matrix inequalities (LMIs) and optimal gain matrices are obtained. The minimum values of the disturbance attenuation levels for both methods are obtained through solving optimization problems. Finally, the proposed approaches are compared by simulation studies of an automated highway system.
Department of Electrical Engineering, Science and Research branch, Islamic Azad University, Tehran, Iran. Electronic address: amireabbasi@gmail.com.
Amir
A
Abbasi
Iran University of Science and Technology, Narmak 16846-13114, Tehran, Iran. Electronic address: jposhtan@iust.ac.ir.
Javad
J
Poshtan
H(∞) Observer; Linear Matrix Inequality (LMI); Matching condition; Robust state estimation; Unknown Input Observer (UIO)