Robust adaptive observers for nonlinear systems with bounded disturbances

Author

Marino, Riccardo ; Santosuesso, G.L. ; Tomei, Patrizio

Author_Institution

Dip. di Ingegneria Elettronica, Rome Univ., Italy

Volume

5

fYear

1999

fDate

1999

Firstpage

5200

Abstract

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; guarantee the input to state stability property of the error dynamics with respect to disturbances and parameter time-derivatives under persistency of excitation; and achieve asymptotic convergence of state estimation errors for systems in adaptive observer form. Those results are obtained by generalizing a previous result and Barbalat´s lemma

Keywords

convergence; nonlinear systems; observers; parameter estimation; Barbalat´s lemma; asymptotic convergence; bounded disturbances; error dynamics; input to state stability property; parameter time-derivatives; persistency of excitation; robust adaptive observers; state estimation errors; unbounded parameter estimates; Adaptive systems; Asymptotic stability; Convergence; Nonlinear systems; Observers; Parameter estimation; Robust stability; Robustness; State estimation; State-space methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.833378

Filename

833378