A nonlinear updated gain observer for MIMO systems: Design, analysis and application to marine surface vessels

Area of Science:

• Control Systems Engineering
• Nonlinear System Analysis
• State Estimation

Background:

• Accurate state estimation is crucial for controlling complex nonlinear systems.
• Measurement noise significantly degrades the performance of traditional observers.
• Existing methods often struggle to balance rapid state reconstruction with effective noise attenuation.

Purpose of the Study:

• To develop an advanced observer for multi-input-multi-output (MIMO) nonlinear systems.
• To address the challenge of measurement noise in state estimation.
• To achieve a trade-off between state reconstruction speed and noise attenuation.

Main Methods:

• Design of an extended updated-gain high-gain observer.
• Utilizing nonlinear functions of output estimation errors to adapt observer gains.
• Establishing stability and boundedness conditions for the observer.

Main Results:

• The proposed observer effectively reconstructs system states rapidly.
• It significantly reduces the impact of measurement noise on estimations.
• Boundedness of estimations and estimation errors is proven under stabilizing state feedback.
• Demonstrated performance recovery with output feedback.

Conclusions:

• The developed observer offers a robust solution for state estimation in noisy nonlinear systems.
• It provides a practical approach for applications requiring fast and accurate state feedback.
• The observer's effectiveness is validated through diverse marine control examples.