Adaptive observer for Switching Linear Parameter-Varying (LPV) systems

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Adaptive observer for Switching Linear Parameter-Varying (LPV) systems

Conference Paper (2014)

Author(s)

Damiano Rotondo (Universitat Politécnica de Catalunya)

Vasso Reppa (University of Cyprus)

Vicenç Puig (Universitat Politécnica de Catalunya)

Fatiha Nejjari (Universitat Politécnica de Catalunya)

Affiliation

External organisation

Adaptive observer Continuous-time systems State and parameter estimation Switching Linear Parameter-Varying (LPV) systems

DOI related publication

https://doi.org/10.3182/20140824-6-za-1003.00242 Final published version

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https://resolver.tudelft.nl/uuid:9e114c04-f109-45eb-9206-7e736574cc1f

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Publication Year

2014

Language

English

Affiliation

External organisation

Pages (from-to)

1471-1476

ISBN (electronic)

9783902823625

Event

19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 (2014-08-24 - 2014-08-29), Pretoria, Cape Town, South Africa

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Abstract

In this paper, the problem of joint state and parameter estimation in switching Linear Parameter-Varying (LPV) systems is considered. The proposed solution relies on an adaptive observer, which is designed finding a solution to a system of Trilinear Matrix Inequalities (TMIs). It is shown that, under certain assumptions, the TMIs can be reduced to Linear Matrix Inequalities (LMIs) that can be solved using available software. An example of a four wheeled omnidirectional mobile robot subject to unknown offsets in the motor voltages is used to illustrate the efficiency of the proposed approach.