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Adaptive observer for switching linear parameter-varying (LPV) systems
Rotondo, Damiano; Reppa, Vasso; Puig Cayuela, Vicenç; Nejjari Akhi-Elarab, Fatiha
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
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.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Linear parametric varying control
Adaptive observer
continuous-time systems
switching linear parameter-varying (LPV) systems
state and parameter estimation.
Control automàtic
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