An output-feedback observer is proposed in this paper to simultaneously estimate unknown states and disturbances of linear time invariant systems. The states are estimated using a Luenberger-like observer while the disturbance signals are estimated based on an inverse-dynamics motivated algorithm. The proposed schemes can be applied to a wide variety of disturbances since no disturbance model is required in the estimation. Depending on the input/output rank conditions of the plant, two different designs are proposed. The observer gains are selected based on sufficient conditions for exponentially converging estimation. The design procedure is illustrated step-by-step by using two examples: a hypothetical problem and the ground vehicle lateral speed estimation problem. A standard -filter is used as the benchmark to illustrate the performance of the proposed method.
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e-mail: hpeng@umich.edu
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September 2002
Technical Papers
Inverse-Dynamics Based State and Disturbance Observers for Linear Time-Invariant Systems
Chia-Shang Liu,
Chia-Shang Liu
Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109
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Huei Peng, Associate Professor
e-mail: hpeng@umich.edu
Huei Peng, Associate Professor
Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109
Search for other works by this author on:
Chia-Shang Liu
Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109
Huei Peng, Associate Professor
Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109
e-mail: hpeng@umich.edu
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division April, 1998. Associate Editor: S. Fassois.
J. Dyn. Sys., Meas., Control. Sep 2002, 124(3): 375-381 (7 pages)
Published Online: July 23, 2002
Article history
Received:
April 1, 1998
Online:
July 23, 2002
Citation
Liu, C., and Peng, H. (July 23, 2002). "Inverse-Dynamics Based State and Disturbance Observers for Linear Time-Invariant Systems ." ASME. J. Dyn. Sys., Meas., Control. September 2002; 124(3): 375–381. https://doi.org/10.1115/1.1485748
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