Adaptive observer for simultaneous state and parameter estimations for an output depending normal form

Lei Yu (1) , Gang Zheng (2, 3) , Driss Boutat (4)

1 Wuhan University [China]
2 NON-A - Non-Asymptotic estimation for online systems
3 DEFROST - Deformable Robots Simulation Team
4 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique

In this paper, we investigate the problem of simultaneous state and parameter estimation for a class of nonlinear systems which can be transformed into an output depending normal form. A new and simple adaptive observer for such class of systems is presented. Sufficient condition for the existence of the proposed observer is derived. A concrete application is given in order to highlight the effectiveness of the proposed result.

Domaines: Automatique

Lei Yu, Gang Zheng, Driss Boutat. Adaptive observer for simultaneous state and parameter estimations for an output depending normal form. Asian Journal of Control, 2017, 19 (1), pp.356-361. ⟨10.1002/asjc.1355⟩. ⟨hal-01410734⟩