期刊
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
卷 48, 期 12, 页码 2599-2609出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207721.2017.1324924
关键词
Nonlinear systems; adaptive observer; impulsive system; persistent excitation
类别
资金
- National Natural Science Foundation of China [61603329, 61673335, 61322303]
- China Postdoctoral Science Foundation [2016M601283]
- Natural Science Foundation of Hebei Province [F2017203145]
- Ph.D. Foundation of Yanshan University [15LGA007, B964]
This paper considers the continuous-discrete-time adaptive observer (CDAO) design for a class of nonlinear systems with unknown constant parameters and sampled output measurements. The proposed observer is actually an impulsive system, since the observer state flows according to a set of differential equations and with instantaneous state jumps corresponding to measured samples and their estimates, and an intersample output predictor is used to predict the output during sampling intervals. By assuming appropriate persistent excitation conditions and following a technical lemma, an upper bound of the sampling intervals is derived, with which the convergence of the observer state and unknown parameters can be ensured. Finally, the proposed observer is used in examples of chaotic oscillators and single-link flexible-joint robot manipulator to show the effectiveness.
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