Stable adaptive observers for nonlinear time-varying systems

Author

Bastin, Georges ; Gevers, Michael R.

Author_Institution

Dept. of Syst. Eng., Australian Nat. Univ., Canberra, ACT, Australia

Volume

33

Issue

7

fYear

1988

fDate

7/1/1988 12:00:00 AM

Firstpage

650

Lastpage

658

Abstract

An adaptive observer/identifier for single input/single output observable nonlinear systems that can be transformed to a certain observable canonical form is described. Sufficient conditions for stability of this observer are provided. These conditions are in terms of the structure of the system and canonical form, the boundedness of the parameter variations, and the sufficient richness of some signals. The scope of the canonical form and the use of the observer/identifier is motivated by the presentation of applications to time-invariant bilinear systems, nonlinear systems in phase-variable form a biotechnological process, and a robot manipulator. In each case, the specific stability conditions are presented

Keywords

adaptive control; nonlinear control systems; stability; state estimation; time-varying systems; SISO systems; adaptive control; adaptive observer; biotechnological process; canonical form; identifier; nonlinear time-varying systems; robot manipulator; stability; Global Positioning System; Nonlinear systems; Observers; Parameter estimation; Robots; Stability; State estimation; Subspace constraints; Sufficient conditions; Time varying systems;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.1273

Filename

1273