Hybrid observer Design for systems with hard nonlinearity
Publish place: 1st National Conference on Development of Civil Engineering, Architecure,Electricity and Mechanical in Iran
Publish Year: 1393
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
DCEAEM01_109
تاریخ نمایه سازی: 18 دی 1393
Abstract:
A hybrid observer for systems with hard nonlinearity is proposed in this paper. Most observers proposed for nonlinear systems in literature are designed based on approximate linearization. Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) are two common Kalman-based observers have been proposed for nonlinear systems. However, in the presence of so-called hard nonlinearity such as saturation or dead zone, common nonlinear observers’ performance is degraded. The structure of the proposed hybrid observer consists of discrete observer and continuous observer on interaction. The discrete observer reconstructs active mode of the system and the continuous part estimates the continuous states. It is shown that the designed hybrid observer is stable and the estimation error is small according to dwell time theory. Finally, simulation results are presented for a DC motor with input saturation. Comparing the results presented for hybrid observer, EKF and UKF illustrates the effectiveness of the proposed method
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Authors
Mahsa Rafiee
Electrical Engineering Department- Shahid Bahonar University of Kerman
Mojtaba Barkhordari Yazdi
Electrical Engineering Department- Shahid Bahonar University of Kerman
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