Research on Design of Non-Model-Dased Differential Estimator and Its Application to Dynamic Sensing

基于自适应控制理论，提出了自适应速度、加速度和频率估计器。特别是，在文中，我们提出了两种类型的自适应微分器来估计输出信号的一阶和二阶导数。在输出信号具有未知动态结构的情况下，提出了一种基于梯度型自适应更新律的速度估计器。在此基础上，提出了一种基于高增益输入观测器的非无源自适应方案，用于设计加速度估计器。此外，还比较了动态非线性自适应增益和静态非线性自适应增益的估计性能。最后，我们使用MEMSIC，Inc.的注册商标Cross弓NAV440对所提出的估计器进行了实验验证

We have proposed the adaptive velocity, acceleration, and frequency estimators based on the adaptive control theory. Especially, in, we presented two types of adaptive differentiators to estimate the first and second order derivatives of an output signal. In the case of the output signal with unknown dynamic structure, a velocity estimator was proposed based on the gradient-type adaptive update law. Then, a non-passifiable adaptive scheme was proposed using the high-gain input observer in order to design an acceleration estimator. Moreover, we compared the estimation performance of the dynamic nonlinear adaptive gain with the static nonlinear adaptive gain. Finally , we performed the experimental validation of proposed estimators with the Crossbow NAV440 that is a registered trademark of MEMSIC,Inc