Please use this identifier to cite or link to this item: http://hdl.handle.net/10603/219786
Title: Robust Estimation of Model Error using H infinity Framework
Researcher: Swetha Amit
Guide(s): Jitendra R Raol
Keywords: Engineering and Technology
University: Jain University
Completed Date: 27/12/2017
Abstract: generalized model error estimators for continuous time and discrete time nonlinear systems are proposed and evaluated. Then a robust H-infinity filter is designed for robust performance even in the presence of uncertainty. An approach for sensor data fusion that utilizes newlinemodel error estimators is also presented. These estimators are based on the method of invariant embedding and H-infinity concept. An observer for nonlinear continuous time dynamic system is proposed that utilizes the gain and the associated matrix Riccati type differential equation from the newlinecombined invariant embedding (IE) and H-infinity (HI) theories. Then, Lyapunov energy (LE) functional is used for deriving the condition for the local asymptotic stability for the observer s newlineerror dynamics. The performances of the model error estimators-based data fusion scheme and of the continuous observer are evaluated by simulation carried out in MATLAB. A posteriori Hinfinity discrete-time filter (HIPF) is converted to a continuous time H-infinity (HI) filter. Then, an observer is presented which uses the gain and the state error Gramian from the continuous time newlineHI filter (CTHF). Asymptotic stability result of the observer s error dynamics is derived using the newlineLyapunov energy functional. The results establish the local stability of the underlying CTHF. This newlinetype of result is novel in the literature on HI theory of filters and the observers. Thus, in this thesis newlineseveral novel aspects of model error estimators are proposed and evaluated in MATLAB. newline
Pagination: 130 p
URI: http://hdl.handle.net/10603/219786
Appears in Departments:Department of Electronics Engineering

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