State estimation and decoupling of unknown inputs in uncertain LPV systems using interval observers |
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| Authors: | D. Rotondo A. Cristofaro T. A. Johansen F. Nejjari V. Puig |
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| Affiliation: | 1. Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems (AMOS), Norwegian University of Science and Technology , Trondheim, Norway;2. Research Center for Supervision, Safety and Automatic Control (CS2AC), Universitat Politècnica de Catalunya (UPC) , Terrassa, Spain;3. Scuola di Scienze e Tecnologie, Università di Camerino , Camerino (MC), Italy;4. Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems (AMOS), Norwegian University of Science and Technology , Trondheim, Norway;5. Research Center for Supervision, Safety and Automatic Control (CS2AC), Universitat Politècnica de Catalunya (UPC) , Terrassa, Spain;6. Research Center for Supervision, Safety and Automatic Control (CS2AC), Universitat Politècnica de Catalunya (UPC) , Terrassa, Spain;7. Institut de Robotica i Informatica Industrial (IRI), UPC-CSIC , Barcelona, Spain |
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| Abstract: | 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. |
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| Keywords: | Unknown input observers linear parameter varying (LPV) systems fault detection and isolation uncertain systems interval observers |
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