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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
DOI
https://dx.doi.org/10.1016/j.ifacol.2018.11.523
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, Design problem, Design procedure, Initial solution, Iterative procedure, Linear Matrix Inequalities(LMIs), Matrix inequality, Numerical examples, Observer Design, Robotic system, descriptor observer