Robust SDRE filter design for nonlinear uncertain systems with an H∞ performance criterion

Hossein Beikzadeh; Hamid D Taghirad

doi:10.1016/j.isatra.2011.09.003

Robust SDRE filter design for nonlinear uncertain systems with an H∞ performance criterion

ISA Trans. 2012 Jan;51(1):146-52. doi: 10.1016/j.isatra.2011.09.003. Epub 2011 Oct 19.

Authors

Hossein Beikzadeh¹, Hamid D Taghirad

Affiliation

¹ Advanced Robotics and Automated Systems (ARAS), Department of Systems and Control, Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, P.O. Box 16315-1355, Tehran, 16314, Iran.

PMID: 22015060
DOI: 10.1016/j.isatra.2011.09.003

Abstract

In order to remedy the effects of modeling uncertainty, measurement noise and input disturbance on the performance of the standard state-dependent Riccati equation (SDRE) filter, a new robust H(∞) SDRE filter design is developed in this paper. Based on the infinity-norm minimization criterion, the proposed filter effectively estimates the states of nonlinear uncertain system exposed to unknown disturbance inputs. Moreover, by assuming a mild Lipschitz condition on the chosen state-dependent coefficient form, fulfillment of a modified H(∞) performance index is guaranteed in the proposed filter. The effectiveness of the robust SDRE filter is demonstrated through numerical simulations where it brilliantly outperforms the conventional SDRE filter in presence of model uncertainties, disturbance and measurement noise, in terms of estimation error and region of convergence.

MeSH terms

Algorithms
Artificial Intelligence
Computer Simulation
Electronics
Fuzzy Logic
Industry / instrumentation*
Models, Statistical
Nonlinear Dynamics*
Signal-To-Noise Ratio
Uncertainty