Asynchronous Observer Design for Switched Linear Systems: A Tube-Based Approach  

作　　者：Minghao Han Ruixian Zhang Lixian Zhang Ye Zhao Wei Pan 

机构地区：[1]School of Astronautics,Harbin Institute of Technology,Harbin 150080,China [2]School of Mechanical Engineering,Georgia Institute of Technology,Atlanta GA 30332 USA [3]Department of Cognitive Robotics,Delft University of Technology,Delft 2628 CD,Netherlands

出　　处：《IEEE/CAA Journal of Automatica Sinica》2020年第1期70-81,共12页自动化学报（英文版）

基　　金：supported in part by the National Defense Basic Scientific Research Program of China(JCKY2018603C015);Cultivation Plan of Major Research Program of Harbin Institute of Technology(ZDXMPY20180101)

摘　　要：This paper proposes a tube-based method for the asynchronous observation problem of discrete-time switched linear systems in the presence of amplitude-bounded disturbances.Sufficient stability conditions of the nominal observer error system under mode-dependent persistent dwell-time(MPDT)switching are first established. Taking the disturbances into account, a novel asynchronous MPDT robust positive invariant(RPI) set and an asynchronous MPDT generalized RPI(GRPI)set are determined for the difference system between the nominal and disturbed observer error systems. Further, the global uniform asymptotical stability of the observer error system is established in the sense of converging to the asynchronous MPDT GRPI set, i.e., the cross section of the tube of the observer error system. Finally, the proposed results are validated on a space robot manipulator example.This paper proposes a tube-based method for the asynchronous observation problem of discrete-time switched linear systems in the presence of amplitude-bounded disturbances.Sufficient stability conditions of the nominal observer error system under mode-dependent persistent dwell-time(MPDT)switching are first established. Taking the disturbances into account, a novel asynchronous MPDT robust positive invariant(RPI) set and an asynchronous MPDT generalized RPI(GRPI)set are determined for the difference system between the nominal and disturbed observer error systems. Further, the global uniform asymptotical stability of the observer error system is established in the sense of converging to the asynchronous MPDT GRPI set, i.e., the cross section of the tube of the observer error system. Finally, the proposed results are validated on a space robot manipulator example.

关 键 词：Asynchronous observer design generalized robust positive invariant(GRPI) set mode-dependent persistent dwell-time(MPDT) switched linear systems 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]