Resilient stubborn observer for switched autonomous systems with an energy harvesting sensor

This paper designs a resilient stubborn observer for switched autonomous systems (SASs) with an energy harvesting sensor (EHS). In order to extend the lifespan of the sensor, a sensor with the ability of harvesting energy is used. For restraining the effect of measurement outliers, a stubborn observer is designed which includes a saturation function with the varying saturation levels. The observer gain fluctuation is considered which is dealt with by the resilience filtering scheme. The aim of this paper is, considering observer gain fluctuation, the measurement outliers and an EHS for SASs, to design a resilient stubborn observer which can guarantee the error dynamics to meet the given performance requirement. Specifically, the existence conditions are derived firstly and then the resilient stubborn observer is designed by linear matrix inequality (LMI) technology. At the end, the performance of the designed observer is evaluated through a numerical simulation and a set of comparative experiments are implemented to further signify the merits of the designed observer.