Stubborn and Dead-Zone Redesign for Nonlinear Observers and Filters - Université Toulouse 1 Capitole Accéder directement au contenu
Article Dans Une Revue IEEE Transactions on Automatic Control Année : 2021

Stubborn and Dead-Zone Redesign for Nonlinear Observers and Filters

Résumé

We propose a redesign paradigm for stable estima-tors by introducing a saturation or a dead-zone nonlinearity with adaptive thresholds on the output injection term. Such nonlin-earities allow improving the sensitivity to measurement noise in different scenarios (impulsive disturbances or persistent noise such as sensor bias), while preserving the asymptotic convergence properties of the original observer. These redesigns apply to a broad class of state estimators, including linear observers, observers for input-affine systems, observers for Lipschitz systems , observers based on the circle criterion, high-gain observers, standard and extended Kalman filters. Simulation results confirm the effectiveness of both the stubborn and dead-zone redesigns.
Fichier principal
Vignette du fichier
final.pdf (1.11 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02556577 , version 1 (28-04-2020)

Identifiants

Citer

Daniele Astolfi, Angelo Alessandri, Luca Zaccarian. Stubborn and Dead-Zone Redesign for Nonlinear Observers and Filters. IEEE Transactions on Automatic Control, 2021, 66 (2), pp.667 - 682. ⟨10.1109/TAC.2020.2989816⟩. ⟨hal-02556577⟩
190 Consultations
234 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More