Publication
State estimation and decoupling of unknown inputs in uncertain LPV systems using interval observers
Journal Article (2018)
Journal
International Journal of Control
Pages
1944-1961
Volume
91
Number
8
Doc link
http://dx.doi.org/10.1080/00207179.2017.1335882
File
Authors
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Rotondo, Damiano
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Cristofaro, Andrea
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Johansen, Tor Arne
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Nejjari Akhi-Elarab, Fatiha
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Puig Cayuela, Vicenç
Abstract
This paper proposes a linear parameter varying (LPV) interval observer for state estimation and unknown inputs decoupling in uncertain continuous-time LPV systems. Two different problems are considered and solved: (1) the evaluation of the set of admissible values for the state at each instant of time; and (2) the unknown input observation, i.e. the design of the observer in such a way that some information about the nature of the unknown inputs affecting the system can be obtained. In both cases, analysis and design conditions, which rely on solving linear matrix inequalities (LMIs), are provided. The effectiveness and appeal of the proposed method is demonstrated using an illustrative application to a two-joint planar robotic manipulator.
Categories
control theory.
Scientific reference
D. Rotondo, A. Cristofaro, T.A. Johansen, F. Nejjari and V. Puig. State estimation and decoupling of unknown inputs in uncertain LPV systems using interval observers. International Journal of Control, 91(8): 1944-1961, 2018.
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