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학술대회 Design of Robust Descriptor Observer with Application to Robotic Systems
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저자
강동엽, 이송, 이혜민
발행일
201808
출처
IFAC, IEEE RAS Symposium on Robot Control (SYROCO) 2018, pp.91-95
DOI
https://dx.doi.org/10.1016/j.ifacol.2018.11.523
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