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

Damiano Rotondo; Vasso Reppa; Vicenç Puig; Fatiha Nejjari

doi:10.3182/20140824-6-za-1003.00242

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

Damiano Rotondo, Vasso Reppa, Vicenç Puig, Fatiha Nejjari

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

11 Citations (Scopus)

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.

Original language	English
Title of host publication	19th IFAC World Congress IFAC 2014, Proceedings
Editors	Edward Boje, Xiaohua Xia
Publisher	IFAC Secretariat
Pages	1471-1476
ISBN (Electronic)	9783902823625
DOIs	https://doi.org/10.3182/20140824-6-za-1003.00242
Publication status	Published - 2014
Externally published	Yes
Event	19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Pretoria, Cape Town, South Africa Duration: 24 Aug 2014 → 29 Aug 2014 Conference number: 19

Conference

Conference	19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Abbreviated title	IFAC 2014
Country/Territory	South Africa
City	Cape Town
Period	24/08/14 → 29/08/14

Keywords

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

Access to Document

10.3182/20140824-6-za-1003.00242

Cite this

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title = "Adaptive observer for Switching Linear Parameter-Varying (LPV) systems",

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.",

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

author = "Damiano Rotondo and Vasso Reppa and Vicen{\c c} Puig and Fatiha Nejjari",

year = "2014",

doi = "10.3182/20140824-6-za-1003.00242",

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booktitle = "19th IFAC World Congress IFAC 2014, Proceedings",

publisher = "IFAC Secretariat",

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note = "19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014, IFAC 2014 ; Conference date: 24-08-2014 Through 29-08-2014",

}

Rotondo, D, Reppa, V, Puig, V & Nejjari, F 2014, Adaptive observer for Switching Linear Parameter-Varying (LPV) systems. in E Boje & X Xia (eds), 19th IFAC World Congress IFAC 2014, Proceedings. IFAC Secretariat, pp. 1471-1476, 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014, Cape Town, South Africa, 24/08/14. https://doi.org/10.3182/20140824-6-za-1003.00242

Adaptive observer for Switching Linear Parameter-Varying (LPV) systems. / Rotondo, Damiano; Reppa, Vasso; Puig, Vicenç et al.
19th IFAC World Congress IFAC 2014, Proceedings. ed. / Edward Boje; Xiaohua Xia. IFAC Secretariat, 2014. p. 1471-1476.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Adaptive observer for Switching Linear Parameter-Varying (LPV) systems

AU - Rotondo, Damiano

AU - Reppa, Vasso

AU - Puig, Vicenç

AU - Nejjari, Fatiha

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N2 - 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.

AB - 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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KW - Continuous-time systems

KW - State and parameter estimation

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M3 - Conference contribution

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SP - 1471

EP - 1476

BT - 19th IFAC World Congress IFAC 2014, Proceedings

A2 - Boje, Edward

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PB - IFAC Secretariat

T2 - 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

Y2 - 24 August 2014 through 29 August 2014

ER -

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

Abstract

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Keywords

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