Parameter and State Estimation of Nonlinear Systems Using a Multi-Observer Under the Supervisory Framework
Michelle S Chong, Dragan Nesic, Romain Postoyan, Levin Kuhlmann
IEEE Transactions on Automatic Control | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | Published : 2015
We present a hybrid scheme for the parameter and state estimation of nonlinear continuous-time systems, which is inspired by the supervisory setup used for control. State observers are synthesized for some nominal parameter values and a criterion is designed to select one of these observers at any given time instant, which provides state and parameter estimates. Assuming that a persistency of excitation condition holds, the convergence of the parameter and state estimation errors to zero is ensured up to a margin, which can be made as small as desired by increasing the number of observers. To reduce the potential computational complexity of the scheme, we explain how the sampling of the para..View full abstract
Awarded by ANR under the grant SEPICOT
This work was supported by the ANR under the grant SEPICOT (ANR 12 JS03 004 01). Recommended by Associate Editor C. de Persis.