On the Use of the Time-Integrals of the Output in Observer Design for Nonlinear Autonomous Systems

• 成果类型: Article
• 署名作者: Menini, Laura; Possieri, Corrado; Tornambe, Antonio
• 署名单位: University of Rome Tor Vergata; Consiglio Nazionale delle Ricerche (CNR); Istituto di Analisi dei Sistemi ed Informatica Antonio Ruberti (IASI-CNR)
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3083551
• 发表日期: 2022
• 页码: 336-343
• 关键词: Observers; observability; Linear systems; Kalman filters; Autonomous systems; Additives; closed-form solutions; Nonlinear systems; observer design

摘要

The goal of this article is to show that the observation scheme recently proposed for linear systems by Menini et al. in 2019, achieving good performance in the presence of a high-frequency measurement disturbance, can be adapted to be used for nonlinear autonomous systems. The design is based on the use of the time-integrals of the measured output and requires the availability of a state observer able to provide a rough estimate of the state; the proposed scheme can be then understood as an observer postprocessing algorithm. For the implementation of the proposed scheme, the time-integrals of the output are required to express as functions of the state of the system. Such functions are called directional antiderivatives; in the article, conditions to guarantee their existence and methods for their computation, in closed-form or by approximation, are resumed. The performance of the proposed observation scheme is illustrated through an example.