Synchronization of interconnected linear systems via dynamic saturation redesign

Giacomo Casadei (1) , Daniele Astolfi (2) , Angelo Alessandri (3) , Luca Zaccarian (4, 5)

1 MIS - Ampère, Département Méthodes pour l'Ingénierie des Systèmes
2 LAGEPP - Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique
3 UniGe - Università degli studi di Genova = University of Genoa
4 Dipartimento di Ingegneria Industriale [Trento]
5 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande

We propose a technique to modify a given discrete-time (nonlinear) observer so that the state estimate remains in a given convex set, without altering the observer performances in terms of convergence and robustness to external disturbances. The proposed approach can be used to remove the peaking phenomenon or to attenuate the effect of impulsive outliers in the measures. it assumes that it is possible to execute a certain number of computations between any two sampling times in order to refine the current estimate and bring it back into the prescribed set. The proposed technique can be applied to any class of nonlinear observers for which a quadratic Lyapunov function is used to prove stability.

Domaines: Automatique / Robotique; Systèmes et contrôle [cs.SY]

Giacomo Casadei, Daniele Astolfi, Angelo Alessandri, Luca Zaccarian. Synchronization of interconnected linear systems via dynamic saturation redesign. 11th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2019, Sep 2019, Vienna, Austria. ⟨10.1016/j.ifacol.2019.12.031⟩. ⟨hal-02411378⟩