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http://dx.doi.org/10.5302/J.ICROS.2005.11.6.477

Design and Analysis of a Robust State Estimator Combining Perturbation Observer  

Kwon SangJoo (한국항공대학교 항공우주및기계공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.6, 2005 , pp. 477-483 More about this Journal
Abstract
This article describes a robust state estimation method which enables to produce reliable estimates in spite of heavy perturbation including plant uncertainty and external disturbances. The main idea is to combine the standard state estimator with the perturbation observer in the estimator frame. The perturbation observer reflects equivalent quantity of plant uncertainty and external disturbances during the estimation process so that the state estimator dynamics gets as close as possible to the real plant dynamics. The robust state estimator proposed in this paper is given in a recursive discrete-time form which is very useful fur implementation purpose. In terms of the error dynamics derived for the robust state estimator, we discuss the stability issue and noise sensitivity. The effectiveness and practicality of the robust state estimator are verified through numerical examples and experimental results.
Keywords
state estimator; perturbation observer; robustness;
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Times Cited By KSCI : 1  (Citation Analysis)
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