Output Feedback Controllers Based on a Bank of High-Gain Observers: Robustness Analysis Against Measurement Noise

Abstract

This paper analyzes output feedback control of a class of unknown nonlinear systems in the presence of measurement noise using multiple high-gain observers (MHGO). It is well-known that single high-gain observers (HGO) are not able to provide satisfactory performance when the system output is contaminated by noise. More specifically, there is a trade-off between the convergence speed of state estimation and the bound of steady estimation error in HGO when the output measurement is contaminated by noise. In the presented scheme, the output feedback controller utilizes the state estimation obtained from an appropriate combination of information provided by a bank of HGOs. The proposed strategy is capable of mitigating the destructive effects of measurement noise and speeding up the convergence process, and it does that because it introduces an extra design parameter. The performance recovery capabilities of MHGO-based controllers and the stability of the closed-loop system are discussed. Simulations are performed on an underwater vehicle system and a mechanical system to evaluate the performance of the MHGO-based controller. Furthermore, a detailed comparison between the MHGO-based controller and controllers based on conventional HGO, HGO with switching gain, and multi-observer approach is provided, which shows the superiority of the MHG-based controller over the other methods.