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Conference Paper
Design of Robust Descriptor Observer with Application to Robotic Systems
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- Authors
- Dongyeop Kang, Song Li, Hea-Min Lee
- Issue Date
- 2018-08
- Citation
- IFAC, IEEE RAS Symposium on Robot Control (SYROCO) 2018, pp.91-95
- Language
- English
- Type
- Conference Paper
- Abstract
- 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 Keywords
- Bounded real lemma(BRL), Design problem, Design procedure, Initial solution, Iterative procedure, Linear matrix inequalities(LMI), Matrix inequality, Observer design, Robotic system, descriptor observer, descriptor systems