H$_\infty$ observer design for singular nonlinear parameter-varying system

Manh-Hung Do (1) , Damien Koenig (1) , Didier Theilliol (2)

1 GIPSA-SAFE - GIPSA - Safe, Controlled and Monitored Systems
2 CRAN - Centre de Recherche en Automatique de Nancy

The main contribution of this paper is an H ∞ observer design for a new class of general singular Nonlinear Parameter-varying system in the presence of disturbances and Lipschitz nonlinearity. In specific, this observer tackles the impact of disturbance on estimation error thanks to the H ∞ norm, while the robust parameter-dependent stability of estimation dynamics helps to widen the feasible region of LMI solution under the Lipschitz constraint. Finally, a numerical example with the gridding solution is illustrated to highlight the proposed design.

Mots clés: Nonlinear Parameter-varying system; Linear parameter-varying system (LPV); Lipschitz condition; Singular (descriptor) system; Observer design

Domaines: Automatique / Robotique

Manh-Hung Do, Damien Koenig, Didier Theilliol. H$_\infty$ observer design for singular nonlinear parameter-varying system. CDC 2020 - 59th IEEE Conference on Decision and Control, Dec 2020, Jeju Island, South Korea. ⟨10.1109/CDC42340.2020.9303844⟩. ⟨hal-02793187⟩