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Design of impulsive adaptive observers for improvement of persistency of excitation
Author(s) -
Efimov Denis,
Fradkov Alexander
Publication year - 2015
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2506
Subject(s) - control theory (sociology) , observer (physics) , nonlinear system , impulse (physics) , lyapunov function , mathematics , convergence (economics) , stability (learning theory) , adaptive control , computer science , control (management) , artificial intelligence , physics , quantum mechanics , machine learning , economics , economic growth
Summary The development of adaptive observer techniques for nonlinear systems in the output canonical form is proposed applying additional impulsive feedback in the observer equations. The stability of new impulsive adaptive observer is investigated. It is shown that under some conditions, the proposed impulsive feedback can improve the rate of the observer convergence or relax the requirement on persistency of excitation, which is usually introduced to ensure convergence of the parameter estimates. The proposed feasibility conditions include positivity of dwell time (boundedness of impulse frequency) and solvability of some Lyapunov‐like matrix inequalities. The results are illustrated by simulation for three examples (including a single link flexible joint robot example). Copyright © 2014 John Wiley & Sons, Ltd.