ℋ∞ Adaptive Observer for Nonlinear Systems with Uncertainies

Resumen: In this work parameter and state estimation are studied for a class of Lipschitz nonlinear systems with faults in the system. A robust adaptive nonlinear observer is proposed to achieve state and unknown parameter estimation. The behavior of the nonlinear system in the presence of external disturbances is analyzed. The observer has a nonlinear structure, which consists of a H∞ adaptive observer to estimate the unknown parameter, in order to monitor the system performance by attenuating of the unknown input and thus achieves the insensitivity of the observer. The stability analysis is performed based on the Lyapunov stability theory, where an ideal condition for the stability of the observer is ensured, satisfying the performance of the ℋ∞ criterion. Numerical simulations of an automobile suspension system are carried out in which the tire stiffness is estimated and the vehicle performance caused by the perturbation is monitored. The results show that the proposed observer can accurately estimate the system state and the unknown parameter.

¿Cómo citar?

P.-E. Alvarado-Mendez, C.-M. Astorga-Zaragoza, O. Hernandez-Gonzale, G.-L. Osorio-Gordillo & F. Ramirez-Rasgado. Adaptive Observer for Nonlinear Systems with Uncertainies. Memorias del Congreso Nacional de Control Automático, pp. 406-411, 2021.

Palabras clave

Nonlinear systems, H∞, Nonlinear adaptive observer

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