Article Dans Une Revue Automatica Année : 2024

Cancelling output disturbances in observer design through internal model filters

Résumé

This work proposes a redesign method for nonlinear observers to reduce the effect of a particular class of output disturbances. Specifically, it is considered a disturbance composed by a term generated from a known system and an unstructured term. The proposed approach does not require modifying the original observer and is based on adding a simple filter that includes an internal model of the disturbance generator. Sufficient conditions for stability of the proposed filter-observer architecture are given. Moreover, the approach is validated through numerical simulations.

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Dates et versions

hal-04355387 , version 1 (20-12-2023)

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Andreu Cecilia, Daniele Astolfi, Michelangelo Bin, Ramon Costa-Castelló. Cancelling output disturbances in observer design through internal model filters. Automatica, 2024, 162, pp.111529. ⟨10.1016/j.automatica.2024.111529⟩. ⟨hal-04355387⟩
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