Continuous-Discrete Observer for Nonlinear Systems with Sampled Measurements: Application to a 1-DOF Helicopter

Resumen: This work presents a new approach for observer design for a general class of state affine nonlinear systems in the presence of uncertainties in the state equations and sampled output measurements. A new high gain observer design is developed and analyzed under insightful conditions. This result is achieved by considering a persistent excitation condition that can be validated on-line. The algorithm is applied to an 1-D Helicopter and validated with simulations.

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O.Hernandez-Gonzalez, F.Ramirez-Rasgado, M.E. Guerrero-Sanchez, A. Perez-Gomez, C.M. Astorga-Zaragoza & J.J. Moreno-Vazquez. Continuous-Discrete Observer for Nonlinear Systems with Sampled Measurements: Application to a 1-DOF Helicopter. Memorias del Congreso Nacional de Control Automático, pp. 507-512, 2019.

Palabras clave

Detección y Aislamiento de Fallas, Robótica y Mecatrónica, Control de Sistemas No Lineales

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