H-infinity Optimization of Luenberger State Observers and Its Application to Fault Detection Filter Design
Soichi Ibaraki (Kyoto University)
Shashikanth Suryanarayanan, Masayoshi Tomizuka
(University of California, Berkeley)
Abstract
This paper considers H-infinity optimization of Luenberger state
observers. The conventional formulation of H-infinity-optimal state
observers does not allow the augmentation of dynamic performance
weightings in the optimization objective, since it makes the problem a
nonconvex optimization problem. We propose an algorithm
to locally solve an H-infinity optimization problem of Luenberger
state observers by transforming the problem into an H-infinity
optimization problem of a static output feedback controller.
The proposed approach offers an intuitive and efficient way to
explicitly design the estimation error dynamics of the observer
in the frequency domain. As
an application example, the proposed approach is applied to the
tuning of fault detection filters for lateral control of automated
passenger vehicles. Numerical simulations are conducted to show
the effectiveness of the proposed tuning method.
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