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Stubborn and Dead-Zone Redesign for Nonlinear Observers and Filters
IEEE Transactions on Automatic Control ( IF 6.8 ) Pub Date : 2021-02-01 , DOI: 10.1109/tac.2020.2989816
Daniele Astolfi , Angelo Alessandri , Luca Zaccarian

We propose a redesign paradigm for stable estima-tors by introducing a saturation or a dead-zone nonlinearity with adaptive thresholds on the output injection term. Such nonlin-earities allow improving the sensitivity to measurement noise in different scenarios (impulsive disturbances or persistent noise such as sensor bias), while preserving the asymptotic convergence properties of the original observer. These redesigns apply to a broad class of state estimators, including linear observers, observers for input-affine systems, observers for Lipschitz systems , observers based on the circle criterion, high-gain observers, standard and extended Kalman filters. Simulation results confirm the effectiveness of both the stubborn and dead-zone redesigns.

中文翻译:

非线性观测器和滤波器的顽固和死区重新设计

我们通过在输出注入项上引入具有自适应阈值的饱和或死区非线性,提出了稳定估计器的重新设计范式。这种非线性允许在不同情况下(脉冲干扰或持续噪声,如传感器偏差)提高对测量噪声的敏感性,同时保留原始观察者的渐近收敛特性。这些重新设计适用于多种状态估计器,包括线性观察器、输入仿射系统的观察器、Lipschitz 系统的观察器、基于圆准则的观察器、高增益观察器、标准和扩展卡尔曼滤波器。仿真结果证实了顽固和死区重新设计的有效性。
更新日期:2021-02-01
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