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Volume 7 Issue 1
Jan.  2020

IEEE/CAA Journal of Automatica Sinica

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Minghao Han, Ruixian Zhang, Lixian Zhang, Ye Zhao and Wei Pan, "Asynchronous Observer Design for Switched Linear Systems: A Tube-Based Approach," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 70-81, Jan. 2020. doi: 10.1109/JAS.2019.1911822
Citation: Minghao Han, Ruixian Zhang, Lixian Zhang, Ye Zhao and Wei Pan, "Asynchronous Observer Design for Switched Linear Systems: A Tube-Based Approach," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 70-81, Jan. 2020. doi: 10.1109/JAS.2019.1911822

Asynchronous Observer Design for Switched Linear Systems: A Tube-Based Approach

doi: 10.1109/JAS.2019.1911822
Funds:  This work was supported in part by the National Defense Basic Scientific Research Program of China (JCKY2018603C 015), and Cultivation Plan of Major Research Program of Harbin Institute of Technology (ZDXMPY20180101)
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  • This paper proposes a tube-based method for the asynchronous observation problem of discrete-time switched linear systems in the presence of amplitude-bounded disturbances. Sufficient stability conditions of the nominal observer error system under mode-dependent persistent dwell-time (MPDT) switching are first established. Taking the disturbances into account, a novel asynchronous MPDT robust positive invariant (RPI) set and an asynchronous MPDT generalized RPI (GRPI) set are determined for the difference system between the nominal and disturbed observer error systems. Further, the global uniform asymptotical stability of the observer error system is established in the sense of converging to the asynchronous MPDT GRPI set, i.e., the cross section of the tube of the observer error system. Finally, the proposed results are validated on a space robot manipulator example.

     

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    Highlights

    • Sufficient stability conditions of the nominal observer error system under asynchronous MPDT switching are proposed and algorithm is designed to determine the asynchronous observer solution.
    • The RPI and GRPI sets in the asynchronous MPDT switching case are first determined in this paper and the corresponding algorithm is designed.
    • Based on the determined asynchronous MPDT GRPI set, the stability condition of the disturbed observer error system is obtained.

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