An Adaptive Observer for Uncertain Linear Time-Varying Systems with Unknown Additive Perturbations

Autor:	Pyrkin, Anton, Bobtsov, Alexey, Ortega, Romeo, Isidori, Alberto
Rok vydání:	2021
Předmět:	Electrical Engineering and Systems Science - Systems and Control Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	In this paper we are interested in the problem of adaptive state observation of linear time-varying (LTV) systems where the system and the input matrices depend on unknown time-varying parameters. It is assumed that these parameters satisfy some known LTV dynamics, but with unknown initial conditions. Moreover, the state equation is perturbed by an additive signal generated from an exosystem with uncertain constant parameters. Our main contribution is to propose a globally convergent state observer that requires only a weak excitation assumption on the system. Comment: 21 pages, 4 figures, detailed paper
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2112.05497 Zobrazit plný text záznamu View this record from Arxiv