This paper presents a MIMO nonlinear adaptive observer, which is characterized by a robust excitation-based switching strategy. The proposed switching algorithm allows to address the scenario of poor excitation, while a conservative minimum duration of excitation interval for ensuring a progressive improvement is determined. The robustness of the devised method with respect to the bounded unstructured perturbation is studied by a input-to-state stability analysis. Simple simulation results show the effectiveness of the proposed technique.

A Nonlinear Adaptive Observer with Excitation-based Switching

PIN, GILBERTO;PARISINI, Thomas
2013

Abstract

This paper presents a MIMO nonlinear adaptive observer, which is characterized by a robust excitation-based switching strategy. The proposed switching algorithm allows to address the scenario of poor excitation, while a conservative minimum duration of excitation interval for ensuring a progressive improvement is determined. The robustness of the devised method with respect to the bounded unstructured perturbation is studied by a input-to-state stability analysis. Simple simulation results show the effectiveness of the proposed technique.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11368/2758771
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