Finite excitation based robust adaptive observer for MIMO LTI systems

Summary The article addresses the problem of a robust adaptive observer design for multi‐input multi‐output linear time‐invariant plants subjected to bounded disturbances in the system dynamics and the output relation. An adaptive observer design is proposed based on the finite excitation leading to...

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Veröffentlicht in:International journal of adaptive control and signal processing 2022-02, Vol.36 (2), p.180-197
Hauptverfasser: Katiyar, Atul, Basu Roy, Sayan, Bhasin, Shubhendu
Format: Artikel
Sprache:eng
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Zusammenfassung:Summary The article addresses the problem of a robust adaptive observer design for multi‐input multi‐output linear time‐invariant plants subjected to bounded disturbances in the system dynamics and the output relation. An adaptive observer design is proposed based on the finite excitation leading to a switched estimation strategy thus relaxing persistence of excitation (PE) condition. The novel finite persistence excitation (f‐PE) condition introduced in this work is significantly milder than the PE condition in terms of excitation requirement and online verifiability. The switched estimator uses the finite excitation via input signal and ensures uniformly ultimately bounded stability of the estimation error dynamics. A multiple switching strategy, which continuously tracks the information richness (about the unknown parameters), is utilized to reduce the intermediate bounds and is proved to be instrumental in improving the result.
ISSN:0890-6327
1099-1115
DOI:10.1002/acs.3322