Passivity-Based Observer Design for State Affine Systems Using Interconnection and Damping Assignment

Authors

Bastian Biedermann, Philipp Rosenzweig, Thomas Meurer

Abstract

A passivity-based observer design is presented for state affine systems. The observer convergence is addressed by systematically determining the output injection so that the observer error dynamics takes the form of an autonomous, passive port-Hamiltonian system. In this respect, the design resembles the interconnection and damping assignment passivity-based controller (IDA - PBC) used for the feedback stabilization of port-Hamiltonian systems. The observer performance is analyzed and illustrated in simulation examples.

Citation

• Journal: 2018 IEEE Conference on Decision and Control (CDC)
• Year: 2018
• Volume:
• Issue:
• Pages: 4662–4667
• Publisher: IEEE
• DOI: 10.1109/cdc.2018.8619143

BibTeX

@inproceedings{Biedermann_2018,
  title={{Passivity-Based Observer Design for State Affine Systems Using Interconnection and Damping Assignment}},
  DOI={10.1109/cdc.2018.8619143},
  booktitle={{2018 IEEE Conference on Decision and Control (CDC)}},
  publisher={IEEE},
  author={Biedermann, Bastian and Rosenzweig, Philipp and Meurer, Thomas},
  year={2018},
  pages={4662--4667}
}

Download the bib file

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