文章基本信息

标题：Linear observer synthesis for nonlinear systems using Koopman Operator framework
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作者：Amit Surana ; Amit Surana ; Andrzej Banaszuk 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：18
页码：716-723
DOI：10.1016/j.ifacol.2016.10.250
语种：English
出版社：Elsevier
摘要：Abstract: In this paper we develop a new approach for observer synthesis for discrete time autonomous nonlinear systems based on Koopman operator theoretic framework. Koopman operator is a linear but an infinite-dimensional operator that governs the time evolution of system outputs in a linear fashion. We exploit this property to synthesize an observer form which enables the use of Luenberger/Kalman-like linear observers for nonlinear estimation. Using the techniques for Koopman eigenvalue/eigenfunction/mode computation, we describe a numerical procedure to construct such an observer form which is often valid in a large portion of state space or even globally. We numerically compare our approach with Extended Kalman Filter and report superior performance.
关键词：KeywordsNonlinear DynamicsOperator TheoryObserver Design