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State estimation and decoupling of unknown inputs in uncertain LPV systems using interval observers

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Rotondo, DamianoMés informacióMés informació
Cristofaro, Andrea
Johansen, Tor Arne
Nejjari Akhi-Elarab, FatihaMés informacióMés informacióMés informació
Puig Cayuela, VicençMés informacióMés informacióMés informació
Document typeArticle
Defense date2017-06-13
Rights accessOpen Access
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
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.
CitationRotondo, D., Cristofaro, A., Johansen , T. A., Nejjari, F., Puig, V. State estimation and decoupling of unknown inputs in uncertain LPV systems using interval observers. "International journal of control", 13 Juny 2017, vol. 91, núm. 8, p. 1944-1961. 
URIhttp://hdl.handle.net/2117/114115
DOI10.1080/00207179.2017.1335882
ISSN0020-7179
Publisher versionhttp://www.tandfonline.com/doi/abs/10.1080/00207179.2017.1335882
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  • SIC - Sistemes Intel·ligents de Control - Articles de revista [123]
  • Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Articles de revista [1.237]
  • SAC - Sistemes Avançats de Control - Articles de revista [432]
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