A note on improvement of adaptive observer robustness

Denis Efimov 1, 2 Christopher Edwards 3 Ali Zolghadri 4
1 NON-A - Non-Asymptotic estimation for online systems
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189, Inria Lille - Nord Europe
2 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : In this paper the problem of adaptive observer design in the presence of disturbances is studied, and an augmented adaptive observer is proposed. First, the $H_{\infty}$ gain of a conventional adaptive observer is estimated, which characterizes the effect of disturbances on output errors. Next, it is shown that if the disturbance is ''matched'' in the plant equations, then it is possible to introduce additional sliding-mode feedback, dependent on the plant output, improving the accuracy of observation. Simulation results confirm the improvement.
Complete list of metadatas

Cited literature [12 references]  Display  Hide  Download

https://hal.inria.fr/hal-00967893
Contributor : Denis Efimov <>
Submitted on : Monday, March 31, 2014 - 10:07:45 AM
Last modification on : Friday, March 22, 2019 - 1:35:58 AM
Long-term archiving on : Monday, April 10, 2017 - 6:44:32 AM

File

Sliding_adaptive_observer_.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-00967893, version 1

Citation

Denis Efimov, Christopher Edwards, Ali Zolghadri. A note on improvement of adaptive observer robustness. 19th IFAC World Congress, Aug 2014, Cape Town, South Africa. ⟨hal-00967893⟩

Share

Metrics

Record views

602

Files downloads

230