A Smooth Converse Lyapunov Theorem for Robust Stability
SIAM Journal on Control and Optimization
Singular Perturbation Methods in Control: Analysis and Design
Singular Perturbation Methods in Control: Analysis and Design
Robotic Manipulators State Observation Via One-Time Gain Switching
Journal of Intelligent and Robotic Systems
High-gain-observer tracking performance in the presence of measurement noise
ACC'09 Proceedings of the 2009 conference on American Control Conference
Brief paper: An adaptive high-gain observer for nonlinear systems
Automatica (Journal of IFAC)
On the performance of high-gain observers with gain adaptation under measurement noise
Automatica (Journal of IFAC)
Mathematics and Computers in Simulation
Robust design of nonlinear internal models without adaptation
Automatica (Journal of IFAC)
The observer follower filter: A new approach to nonlinear suboptimal filtering
Automatica (Journal of IFAC)
Time-varying increasing-gain observers for nonlinear systems
Automatica (Journal of IFAC)
| Hi-index | 22.16 |
This paper considers output feedback control using high-gain observers in the presence of measurement noise for a class of nonlinear systems. We study stability in the presence of measurement noise and illustrate the tradeoff when selecting the observer gain between state reconstruction speed and robustness to model uncertainty on the one hand versus amplification of noise on the other. Based on this tradeoff we propose a high-gain observer that switches between two gain values. This scheme is able to quickly recover the system states during large estimation error and reduce the effect of measurement noise in a neighborhood of the origin of the estimation error. We argue boundedness and ultimate boundedness of the closed-loop system under switched-gain output feedback.