Observer Design for Robotic Systems via Takagi–Sugeno Models and Linear Matrix Inequalities

Víctor Estrada Manzo , Zsofia Lendek (1) , Thierry-Marie Guerra (2)

1 UTCN - Universitatea Tehnica din Cluj-Napoca
2 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

This chapter presents a systematic procedure to design observers for mechanical systems. In general, the state space representation of such systems can be naturally expressed as nonlinear descriptor models. The idea is to rewrite the original nonlinear model as a Takagi–Sugeno one and use Lyapunov’s direct method for observer design. This procedure leads to conditions in form of linear matrix inequalities. Two different observer configurations are analysed. The performances of the observers are illustrated on mobile robot.

Domaines: Automatique / Robotique

Víctor Estrada Manzo, Zsofia Lendek, Thierry-Marie Guerra. Observer Design for Robotic Systems via Takagi–Sugeno Models and Linear Matrix Inequalities. Handling Uncertainty and Networked Structure in Robot Control, 42, Springer International Publishing, pp.103-128, 2015, Studies in Systems, Decision and Control, ⟨10.1007/978-3-319-26327-4_5⟩. ⟨hal-03403977⟩