상세정보
학술대회
Design of Robust Descriptor Observer with Application to Robotic Systems
- 발행일
- 201808
- 출처
- IFAC, IEEE RAS Symposium on Robot Control (SYROCO) 2018, pp.91-95
- 협약과제
- 18ZD1100, 대경권 지역산업 기반 ICT융합기술 고도화 지원사업, 문기영
- 초록
- This paper addresses a problem of robust H?닞 observer design for discrete-time descriptor systems. First, a bounded real lemma which is used for observer design is proposed. Then, a method of designing a robust H?닞 observer is proposed by applying the derived bounded real lemma. Initial solution of the observer design problem is obtained by solving a linear matrix inequality and an iterative procedure is proposed to improve H?닞 performance. Numerical examples of robotic systems are presented to illustrate the effectiveness of the proposed design procedure.
- KSP 제안 키워드
- Bounded real lemma, Design problem, Design procedure, Initial solution, Iterative procedure, Linear Matrix Inequalities(LMIs), Matrix inequality, Numerical examples, Observer Design, Robotic system, descriptor observer