文章基本信息

标题：Stubborn ISS Redesign for Nonlinear High-Gain Observers
本地全文：下载
作者：Daniele Astolfi ; Angelo Alessandri ; Luca Zaccarian 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：15422-15427
DOI：10.1016/j.ifacol.2017.08.1872
语种：English
出版社：Elsevier
摘要：AbstractWe 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.