Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Lyapunov Based Stability Analysis and Design of A Robust High-Gain Observer

강인한 고이득 관측기 설계 및 안정성 해석

  • Yu, Sung-Hoon (Department of Electrical & Electronic Engineering, Yonsei University) ;
  • Hyun, Chang-Ho (Division of Electrical, Electronic & Control Engineering, Kongju National University)
  • 유성훈 (연세대학교 전기전자공학과) ;
  • 현창호 (국립공주대학교 전기전자제어공학부)
  • Received : 2009.10.06
  • Accepted : 2010.03.03
  • Published : 2010.03.25
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Abstract

This paper proposes a robust high-gain observer design scheme for nonlinear systems and its stability is analyzed based on Lyapunov theory. It is assumed that their states are unmeasurable. The proposed high-gain observer has the integrator of the estimation error in dynamics. It improves the performance of high-gain observers and makes the proposed observer robust to noisy measurements, uncertainties and peaking phenomenon as well. Its stability is analyzed by the Lyapunov approach. In order to verify the effectiveness of the proposed scheme, it is applied to output feedback controllers and some comparative simulation result with the existed observer based output feedback controllers and state feedback controllers is given.

본 논문은 비선형 시스템에 대하여 강인한 고이득 관측기 설계 방법을 제안하였고 그것의 안정성을 리아푸노프 이론을 기반으로 분석하였다. 그 시스템의 상태는 측정 할 수 없다고 가정하였다. 제안된 고이득 관측기는 역학식에 추정 오차의 적분을 포함한다. 그것은 고이득 관측기의 성능을 향성시키고 제안된 관측기가 잡음, 불확실성, 피킹 현상과 같은 것들에 대해 강인하도록 만든다. 그것의 안정성은 리아푸노프 방법에 의해 분석된다. 이를 출력 되먹임 제어기에 적용하였고 모의실험 결과를 통해 기존의 관측기기반의 출력 되먹임 제어기, 상태 되먹임 제어기와 비교하여 제안된 방법의 효율성을 증명하였다.

Keywords

References

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