Output Noise Rejection based Filtered High-Gain Observer

Aziza Ragoubi (1) , Mondher Farza (2) , Salim Hadj Saïd (3)

1 LAC - Laboratoire d'automatique de Caen
2 Equipe Automatique - Laboratoire GREYC - UMR6072
3 ENIM - École Nationale d’Ingénieurs de Monastir

Standard high-gain observers (SHGO) suffer from the sensitivity to measurement noise. This paper treats this inconvenient by presenting a new filtered high-gain observer that is based on cascading three subsystems having the same order as the initial system. The first subsystem has a dynamic similar to that of a standard high-gain observer whose the corrective term is linked to the state of the second subsystem. The both other subsystems are none other than cascade filters of the output observation error. A single-link robot arm system is used to highlight the performances of the suggested observer which are compared to those arising from the SHGO and the basic filtered HGO proposed in [10].

Mots clés: Observers; Noise measurement; Manganese; Mathematical model; Sensitivity; Switches; Filtering theory

Domaines: Sciences de l'ingénieur [physics]; Automatique / Robotique

Aziza Ragoubi, Mondher Farza, Salim Hadj Saïd. Output Noise Rejection based Filtered High-Gain Observer. 2019 19th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), Mar 2019, Sousse, Tunisia. pp.7-12, ⟨10.1109/STA.2019.8717237⟩. ⟨hal-02342290⟩