Symmetry preserving observers for water tank problems: theory and application to an
43 pages
English
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Symmetry preserving observers for water tank problems: theory and application to an

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En savoir plus
43 pages
English

Description

Niveau: Supérieur
Symmetry-preserving observers for water tank problems: theory and application to an oceanography data assimilation example Silvère Bonnabel Co-workers: Didier Auroux. Pierre Rouchon Mines ParisTech Centre de Robotique Mathématiques et Systèmes 29 sept 2009

  • linear observers

  • gain matrix

  • cx ?

  • symmetry-preserving observers

  • computational cost

  • mines paristech

  • ∂f ∂x

  • centre de robotique


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Nombre de lectures 20
Langue English
Poids de l'ouvrage 1 Mo

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Symmetry-preservingobserversforwatertankproblems:theoryandapplicationtoanoceanographydataassimilationexampleSilvèreBonnabelCo-workers:DidierAuroux.PierreRouchonMinesParisTechCentredeRobotiqueMathématiquesetSystèmessilvere.bonnabel@mines-paristech.fr29sept2009
OutlineIntroductionandmotivationsWatertanksystems,symmetries,andobserverdesignApplicationtoanoceanographyexempleNumericalsimulationsConclusion
Symmetrieshavebeenusedincontrolforfeedbackdesignfornon-linearsystemsbutmuchlessforthedesignofnon-linearobserverstoourknowledge.Incontroltheory,astateobserverisasystemthatusesIamodeloftherealsystemInoisymeasurementsoftheinputandoutputoftherealsystemIGoal:provideareal-timeestimateoftheinternalstateItistypicallyacomputer-implementedmathematicalmodel(preferablylowcostofcomputation).Exemple:Kalmanfilter
LinearobserversConsiderthelinearsystemddtx=Ax+Bu,yxC=wherexRnisthestate,uRmtheinput,andyRptheoutput;ARn×n,BRn×m,andCRp×n.LuenbergerObserverorKalmanfilterddtxˆ=Axˆ+Bu+L(Cxˆy)Copy+correctiontermL(Cxˆy)equalto0whenxˆ=x.Listhegainmatrix