An approximate observer for a class of nonlinear systems
Systems & Control Letters
Further results on the observer design problem
Systems & Control Letters
Asymptotic linearization and stabilization for a class of nonlinear systems
Journal of Optimization Theory and Applications
A state observer for nonlinear dynamical systems
Proceedings of second world congress on Nonlinear analysts
Nonlinear observer design using Lyapunov's auxiliary theorem
Systems & Control Letters
Nonlinear Control Systems
On the Robust Nonlinear Motion Position and Force Control of Flexible Joints Robot Manipulators
Journal of Intelligent and Robotic Systems
Robust Linear Control of Flexible Joint Robot Systems
Journal of Intelligent and Robotic Systems
Design of Observers for Hybrid Systems
HSCC '02 Proceedings of the 5th International Workshop on Hybrid Systems: Computation and Control
High-gain observers in the presence of measurement noise: A switched-gain approach
Automatica (Journal of IFAC)
Mathematics and Computers in Simulation
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High-gain Luenberger-like state observation would provide the best possible tracking error of nonlinear systems at the expense of higher transient variance and slower convergence to the real state. Conversely, low-gain Luenberger-like observation usually provides lower transient variance of the error system, but might lead to nonzero or nonconvergent steady tracking error. This paper presents new switching-gain observer designs that capitalize on the benefits of low-gain, high-gain, and sliding mode observations. Switching and non-switching observer designs are both considered. Since adaptive observers are often of complex structures and might be difficult to implement, a simpler adaptation form is presented using one-time switching between two predetermined solutions. A nonlinear coordinate transformation is applied to obtain a linear observable system with nonlinear perturbation terms characterized by a Lipschitz constant and/or a finite bound on the norm. Sufficient conditions are derived for the existence of sliding mode, asymptotic stability of the error system, and the independence of the reconstruction error system from the perturbation inputs during the sliding mode. The new observer designs are applied to flexible-joint manipulators in order to explore their performance capabilities. The switching-gain observer was shown to be a reasonable compromise that is easy to be implemented.