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Robust H filtering for nonlinear uncertain systems using state-dependent riccati equation technique

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2 Author(s)
Beikzadeh, H. ; Adv. Robot. & Automated Syst. (ARAS), K.N. Toosi Univ. of Technol., Tehran, Iran ; Taghirad, H.D.

The standard state-dependent Riccati equation (SDRE) filter, which is set up by direct SDC parameterization, demands complete knowledge of the system model, and the disturbance inputs characteristics. However, this inherent dependency can severely degrade its performance in practical applications. In this paper, based on the H¿ norm minimization criterion, a robust SDRE filter is proposed to effectively estimate the states of nonlinear uncertain systems exposed to unknown disturbance inputs. Considering a Lipschitz condition on the chosen SDC form, we guarantee fulfillment of a modified H¿ performance index by the proposed filter. The effectiveness of the robust SDRE filter is demonstrated through numerical simulations where it brilliantly outperforms the usual SDRE filters in presence of model uncertainties as well as process and measurement noises.

Published in:

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Date of Conference:

15-18 Dec. 2009