An energy-based state observer for dynamical subsystems with inaccessible state variables

Shoukry Mohammed Khalil, Islam and Şabanoviç, Asif and Misra, Sarthak (2012) An energy-based state observer for dynamical subsystems with inaccessible state variables. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal

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This work presents an energy-based state estimation formalism for a class of dynamical systems with inaccessible/ unknown outputs, and systems at which sensor utilization is impractical, or when measurements can not be taken. The power-conserving physical interconnections among most of the dynamical subsystems allow for power exchange through their power ports. Power exchange is conceptually considered as information exchange among the dynamical subsystems and further utilized to develop a natural feedback-like information from a class of dynamical systems with inaccessible/unknown outputs. This information is used in the design of an energybased state observer. Convergence stability of the estimation error for the proposed state observer is proved for systems with linear dynamics. Furthermore, robustness of the convergence stability is analyzed over a range of parameter deviation and model uncertainties. Experiments are conducted on a dynamical system with a single input and multiple inaccessible outputs (Fig. 1) to demonstrate the validity of the proposed energybased state estimation formalism.

Item Type:Papers in Conference Proceedings
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
ID Code:19719
Deposited By:Asif Şabanoviç
Deposited On:20 Oct 2012 20:50
Last Modified:31 Jul 2019 11:58

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