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

Conference Paper (2014)
Author(s)

Damiano Rotondo (Universitat Politecnica de Catalunya)

Vasso Reppa (University of Cyprus)

Vicenc Puig (Universitat Politecnica de Catalunya)

Fatiha Nejjari (Universitat Politecnica de Catalunya)

Affiliation
External organisation
DOI related publication
https://doi.org/10.3182/20140824-6-za-1003.00242
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Publication Year
2014
Language
English
Affiliation
External organisation
Pages (from-to)
1471-1476
ISBN (electronic)
9783902823625

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.

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