An Adaptive Observer for Uncertain Linear Time-Varying Systems with Unknown Additive Perturbations
Systems and Control
2021-12-13 v1 Robotics
Systems and Control
Abstract
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.
Cite
@article{arxiv.2112.05497,
title = {An Adaptive Observer for Uncertain Linear Time-Varying Systems with Unknown Additive Perturbations},
author = {Anton Pyrkin and Alexey Bobtsov and Romeo Ortega and Alberto Isidori},
journal= {arXiv preprint arXiv:2112.05497},
year = {2021}
}
Comments
21 pages, 4 figures, detailed paper