Implicit triangular observer form dedicated to a sliding mode observer for systems with unknown inputs

被引:23
作者
Boukhobza, T
Djemai, M
Barbot, JP
机构
[1] Univ Antilles Guyane, IUT Kourou, F-97387 Kourou, France
[2] ENSEA, Equipe Commande Syst, F-95014 Cergy, France
关键词
sliding mode observer; multi-output systems; unknown inputs; Implicit Triangular observer form;
D O I
10.1111/j.1934-6093.2003.tb00169.x
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
It has been presented in previous works that every uniformly observable single-output system can be put on a triangular observation form. For this structure a special kind of sliding mode observer has been designed by authors, which ensures a finite-time state reconstruction using a step by step observation algorithm. In this paper, we show that the multi-output case is more delicate to study especially when the system has some unknown inputs. Thus, in order to generalizes the triangular observer form, from single to multi-output case, we define an Implicit Triangular Observer (ITO) form. For such a form, two results are given. Firstly, we design a finite time converging observer for all values of the unknown inputs. Secondly, we give the necessary and sufficient condition, including a matching condition, for the existence of a coordinate change to put the system into this form. It is also shown that this class of systems is a subset of the uniform observable class of systems.
引用
收藏
页码:513 / 527
页数:15
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