Robust adaptive observers for nonlinear systems with boundeddisturbances

Marine R.; Santosuosso G.L.; Tomei P.

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Robust adaptive observers for nonlinear systems with boundeddisturbances

机译：具有有界扰动的非线性系统的鲁棒自适应观测器。

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Since existing adaptive observers for nonlinear systems may generate unbounded parameter estimates in the presence of bounded disturbances, robust adaptive observers are presented which prevent parameter estimate drift. In addition the input-to-state stability of the error dynamics with respect to disturbances and parameter time-derivatives is guaranteed by generalizing a persistency of excitation result. Asymptotic convergence of state estimation errors is still achieved for systems in adaptive observer form when disturbances are not present, by a suitable extension of Barbalat's lemma

机译：由于非线性系统的现有自适应观测器可能会在存在有界干扰的情况下生成无界参数估计，因此提出了可防止参数估计漂移的鲁棒自适应观测器。另外，通过归纳激励结果的持久性，可以保证误差动力学相对于干扰和参数时间导数的输入状态稳定性。通过适当地扩展Barbalat引理，对于不存在干扰的自适应观测器形式的系统，仍可以实现状态估计误差的渐近收敛。

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来源
《IEEE Transactions on Automatic Control》 |2001年第6期|p.967-972|共6页
作者
Marine R.; Santosuosso G.L.; Tomei P.;
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正文语种 eng
中图分类自动化系统;
关键词
adaptive estimation; nonlinear systems; observers; parameter estimation; stability; asymptotic convergence; bounded disturbances; disturbances; error dynamics stability; input-to-state stability; nonlinear systems; parameter estimates; parameter time-derivatives; rob;

机译：自适应估计非线性系统观测器参数估计稳定性渐近收敛界扰动扰动误差动态稳定性输入到状态稳定性非线性系统参数估计参数时间导数rob;

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机译：一类非线性系统的非线性自适应鲁棒观测器设计

Robust adaptive observers for nonlinear systems with boundeddisturbances

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