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Observability and Local Observer Construction for Unknown Parameters in Linearly and Nonlinearly Parameterized Systems |
Abstract |
Using geometric concepts from observabilit … Using geometric concepts from observability theory for nonlinear
systems, we propose an approach for parameter estimation for linearly and
nonlinearly parameterized systems that does not rely on persistence of
excitation conditions. The proposed approach relies on extending a
parameter estimation problem to a state estimation problem by introducing
the parameters as auxiliary state variables. Applying tools from geometric
nonlinear control theory we give an observability check for parameters,
and, in case the parameters are observable, we provide a constructive way
to design a local parameter observer with established speed of
convergence. er with established speed of
convergence. +
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Authors | Domitilla Del Vecchio and Richard M. Murray + |
ID | 2002m + |
Source | 2003 American Control Conference + |
Tag | dm03-acc + |
Title | Observability and Local Observer Construction for Unknown Parameters in Linearly and Nonlinearly Parameterized Systems + |
Type | Conference Paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:18:56 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/dm03-acc.pdf + |
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Observability and Local Observer Construction for Unknown Parameters in Linearly and Nonlinearly Parameterized Systems + | Title |
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