Observer Design for Robotic Systems via Takagi–Sugeno Models and Linear Matrix Inequalities
Résumé
This chapter presents a systematic procedure to design observers for mechanical systems. In general, the state space representation of such systems can be naturally expressed as nonlinear descriptor models. The idea is to rewrite the original nonlinear model as a Takagi–Sugeno one and use Lyapunov’s direct method for observer design. This procedure leads to conditions in form of linear matrix inequalities. Two different observer configurations are analysed. The performances of the observers are illustrated on mobile robot.