A robust adaptive observer for nonlinear systems with unknown inputs and disturbance

Habib Dimassi (1) , Antonio Loria (1) , Safya Belghyth (2)

1 L2S - Laboratoire des signaux et systèmes
2 ENIT - Ecole Nationale d'Ingénieurs de Tunis

We present a simple robust adaptive observer for systems with unknown inputs. The class of systems includes partially linear systems with differentiable non-linearities provided that the solutions are bounded (the bound is unknown). Parametric uncertainty and additive disturbances are considered where the parameters are piece-wise constant. It is also assumed that measurable outputs are corrupted by noise. We show under certain necessary and sufficient conditions convergence of the estimation errors.

Domaines: Sciences de l'ingénieur [physics]; Automatique / Robotique

Habib Dimassi, Antonio Loria, Safya Belghyth. A robust adaptive observer for nonlinear systems with unknown inputs and disturbance. 49th. IEEE Conf. Decision Control, Dec 2010, Atlanta, United States. pp.2602-2607, ⟨10.1109/CDC.2010.5717678⟩. ⟨hal-00521524⟩