Finite Time Observers for Nonlinear System by Solving LMIs Problem: Application to the Manipulator Arm

Chakib Ben Njima(1*), Walid Ben Mabrouk(2), Hassani Messaoud(3)

(1) Ecole Nationale d’Ingénieurs de Monastir, Rue Ibn El Jazzar, Monastir 5019., Tunisia
(2) Ecole Nationale d’Ingénieurs de Monastir, Rue Ibn El Jazzar, Monastir 5019., Tunisia
(3) Ecole Nationale d’Ingénieurs de Monastir, Rue Ibn El Jazzar, Monastir 5019., Tunisia
(*) Corresponding author


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Abstract


In this article, we consider the synthesis of finite time observers for some class of nonlinear systems by solving some LMI problem. First, we develop a method to calculate a constant gain which is used to determine an observer for a class of nonlinear systems. Secondly, we use an affine gain to synthesis the observer. The method can also be applied to the case of another class of nonlinear systems with nonlinear output. An application to the manipulator arm and a numerical example illustrate the proposed theory and point out the ameliorations comparing with asymptotic observers.
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Keywords


Finite Time Observers; LMIs; Nonlinear Systems; Robot

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References


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