Article Dans Une Revue IEEE Transactions on Automatic Control Année : 2024

Adaptive Pseudoinverse Observers for Output Redundant Discrete-Time Linear Systems

Résumé

We address the problem of output redundancy in discrete-time linear systems, with the aim of obtaining an optimized combination of sensors for structurally rejecting certain disturbances.We frame our goal as the design problem of a nonlinear observer consisting in a linear Luenberger structure augmented with an adaptive weighted pseudoinverse combination of the available measurements. A novel optimization algorithm is proposed for the update of the dynamic weights of the pseudoinverse, together with a selector that overrides the optimizer whenever the pseudoinverse becomes close to being singular. Numerical simulations on the case study of a discrete-time mechanical system support and validate the proposed architecture.

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hal-04776114 , version 1 (11-11-2024)

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Andrea Cristofaro, Luca Zaccarian. Adaptive Pseudoinverse Observers for Output Redundant Discrete-Time Linear Systems. IEEE Transactions on Automatic Control, 2024, 69 (11), pp.7403-7417. ⟨10.1109/TAC.2024.3388129⟩. ⟨hal-04776114⟩
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