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

作     者：Minghao Han Ruixian Zhang Lixian Zhang Ye Zhao Wei Pan Minghao Han;Ruixian Zhang;Lixian Zhang;Ye Zhao;Wei Pan

作者机构：School of AstronauticsHarbin Institute of TechnologyHarbin 150080China School of Mechanical EngineeringGeorgia Institute of TechnologyAtlanta GA 30332 USA Department of Cognitive RoboticsDelft University of TechnologyDelft 2628 CDNetherlands 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2020年第7卷第1期

页      面：70-81页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：supported in part by the National Defense Basic Scientific Research Program of China(JCKY2018603C015) Cultivation Plan of Major Research Program of Harbin Institute of Technology(ZDXMPY20180101) 

主　　题：Asynchronous observer design generalized robust positive invariant(GRPI) set mode-dependent persistent dwell-time(MPDT) switched linear systems 

摘      要：This paper proposes a tube-based method for the asynchronous observation problem of discrete-time switched linear systems in the presence of amplitude-bounded *** 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.