Hybrid Observer-Based Asymptotic Stabilization of Non-Uniformly Observable Systems: A Case Study

• 成果类型: Article
• 署名作者: Maghenem, M.; Pasillas-Lepine, W.; Loria, A.; Aguado-Rojas, M.
• 署名单位: Centre National de la Recherche Scientifique (CNRS); Communaute Universite Grenoble Alpes; Universite Grenoble Alpes (UGA); Universite Paris Saclay; Centre National de la Recherche Scientifique (CNRS); Universite Paris Saclay; Centre National de la Recherche Scientifique (CNRS)
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3319161
• 发表日期: 2024
• 页码: 3174-3181
• 关键词: Anti-lock braking systems (ABS); hybrid control; nonuniformly observable systems; observers

摘要

We analyze a case study of output-feedback stabilization of an unobservable equilibrium. The problem involves achieving two conflicting goals: to estimate the unmeasured states, for which the system must a priori operate in an oscillatory regime, and to stabilize an equilibrium asymptotically. To overcome this quandary we propose a novel hybrid controller that generates a piecewise constant dwindling reference designed to make the system operate in an oscillatory, yet asymptotically stable, regime. The controller relies on a previously proposed switching observer, for which we provide an original analysis of exponential convergence.