Stubborn ISS redesign for nonlinear high-gain observers - Archive ouverte HAL
Communication Dans Un Congrès Année : 2017

Stubborn ISS redesign for nonlinear high-gain observers

Résumé

We propose a stubborn design paradigm for nonlinear high-gain observers, resulting in enforcing a saturation nonlinearity with variable limits on the output injection term. We analyze the input-to-state stability properties of the estimation error dynamics, and we show that the stubborn extension does not lead to a worse bound than the original high-gain design in terms of both peaking and sensitivity to disturbances and measurement noise. We illustrate by simulation that the proposed " stubborn " modification is actually effective at improving the transient response of the observer and the rejection of measurement outliers.

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Dates et versions

hal-01568347 , version 1 (25-07-2017)

Identifiants

  • HAL Id : hal-01568347 , version 1

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Daniele Astolfi, Angelo Alessandri, Luca Zaccarian. Stubborn ISS redesign for nonlinear high-gain observers. 20th IFAC World Congress, IFAC 2017, Jul 2017, Toulouse, France. ⟨hal-01568347⟩
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