STABLE ADAPTIVE OBSERVERS FOR NONLINEAR TIME-VARYING SYSTEMS
STABLE ADAPTIVE OBSERVERS FOR NONLINEAR TIME-VARYING SYSTEMS
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DOI：
10.1109/9.1273
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发表时间：
1988-07-01
影响因子：
6.8
通讯作者：
GEVERS, MR
中科院分区：
文献类型：
--
作者：
BASTIN, G;GEVERS, MR
描述了一种单输入/单输出可观测非线性系统的自适应观测器/辨识器，该观测器/辨识器可转化为某种可观测标准形。给出了该观测器稳定的充分条件。这些条件包括系统的结构和规范形式、参数变化的有界性和某些信号的充分丰富性。规范形式的范围和观测器/辨识器的使用是由于对时不变双线性系统、相变形式的非线性系统、生物技术过程和机器人操作器的应用的介绍。在每种情况下，都给出了具体的稳定性条件。
An adaptive observer/identifier for single input/single output observable nonlinear systems that can be transformed to a certain observable canonical form is described. Sufficient conditions for stability of this observer are provided. These conditions are in terms of the structure of the system and canonical form, the boundedness of the parameter variations, and the sufficient richness of some signals. The scope of the canonical form and the use of the observer/identifier is motivated by the presentation of applications to time-invariant bilinear systems, nonlinear systems in phase-variable form a biotechnological process, and a robot manipulator. In each case, the specific stability conditions are presented.< >