Abstract

Method for the synthesis of state observer for continuous systems with sampled-data measurements, Lipschitz nonlinearities, uncertain disturbances and measurement errors is proposed. It based on the using of a continuous observer, which is modified for the case of discrete measurements. Sufficient conditions for observers to provide finite time boundedness of the estimation error with respect to the given sets of initial deviations and admissible trajectories are expressed in the solvability of differential-difference linear matrix inequalities. The results are illustrated on the example of manipulator with flexible joint links.

中文翻译：

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具有离散测量和不确定干扰的连续 Lipschitz 系统的状态观察器

摘要

提出了用采样数据测量、Lipschitz 非线性、不确定扰动和测量误差合成连续系统状态观测器的方法。它基于使用连续观测器，该观测器针对离散测量的情况进行了修改。观察者提供关于给定初始偏差和可容许轨迹集的估计误差的有限时间有界性的充分条件用微分-差分线性矩阵不等式的可解性表示。结果以具有柔性关节连杆的机械手为例进行了说明。