State estimation and decoupling of unknown inputs in uncertain LPV systems using interval observers

This paper proposes a linear parameter varying (LPV) interval observer for state estimation and unknown inputs decoupling in uncertain continuous-time LPV systems. Two different problems are considered and solved: (1) the evaluation of the set of admissible values for the state at each instant of ti...

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Bibliographic Details
Published in:International Journal of Control
Main Authors: Rotondo, Damiano, Cristofaro, Andrea, Arne Johansen, Tor, Nejjari, Fatiha, Puig, Vicenç
Other Authors: European Commission, Universidad Complutense de Madrid, Ministerio de Economía y Competitividad (España), Generalitat de Catalunya, Research Council of Norway, European Research Consortium for Informatics and Mathematics
Format: Article in Journal/Newspaper
Language:English
Published: Taylor & Francis 2018
Subjects:
Unknown input observers
Linear parameter varying (LPV) systems
Fault detection and isolation
Uncertain systems
Interval observers
Norway
Iceland
Online Access:http://hdl.handle.net/10261/179604
https://doi.org/10.1080/00207179.2017.1335882
https://doi.org/10.13039/501100003329
https://doi.org/10.13039/501100001667
https://doi.org/10.13039/501100000780
https://doi.org/10.13039/501100002809
https://doi.org/10.13039/501100002911
Description
Summary:This paper proposes a linear parameter varying (LPV) interval observer for state estimation and unknown inputs decoupling in uncertain continuous-time LPV systems. Two different problems are considered and solved: (1) the evaluation of the set of admissible values for the state at each instant of time; and (2) the unknown input observation, i.e. the design of the observer in such a way that some information about the nature of the unknown inputs affecting the system can be obtained. In both cases, analysis and design conditions, which rely on solving linear matrix inequalities (LMIs), are provided. The effectiveness and appeal of the proposed method is demonstrated using an illustrative application to a two-joint planar robotic manipulator. This work has been supported by a grant from Iceland, Liecht- enstein and Norway through the EEA Financial Mechanism. Operated by Universidad Complutense de Madrid (ref. 006- ABEL-IM-2014B). The authors also acknowledge the support by MINECO and FEDER through the project CICYT HAR- CRICS (ref. DPI2014-58104-R), by AGAUR through the con- tracts FI-DGR 2014 (ref. 2014FI_B1_00172) and FI-DGR 2015 (ref. 2015FI_B2_00171), by the DGR of the Generalitat de Catalunya (ref. 2014/SGR/374) and by the Research Council of Norway through the Centres of Excellence funding scheme (ref. 223254 - AMOS). D. Rotondo is also supported by the ERCIM Alain Bensoussan Fellowship programme. Peer reviewed

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