최적화 기법에 의한 비선형 시스템에서의 강인한 적응 관측기 설계Robust Adaptive Observer Design for a Class of Nonlinear Systems via an Optimization Method
- Other Titles
- Robust Adaptive Observer Design for a Class of Nonlinear Systems via an Optimization Method
- Authors
- 허건수; 정종철
- Issue Date
- Oct-2006
- Publisher
- 대한기계학회
- Keywords
- Adaptive Observer; 적응 관측기; Robustness; 강인성; LMI; Linear Matrix Inequality; Optimization Problem; 최적화 문제
- Citation
- 대한기계학회논문집 A, v.30, no.10, pp.1249 - 1254
- Indexed
- KCI
- Journal Title
- 대한기계학회논문집 A
- Volume
- 30
- Number
- 10
- Start Page
- 1249
- End Page
- 1254
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/180830
- DOI
- 10.3795/KSME-A.2006.30.10.1249
- ISSN
- 1226-4873
- Abstract
- Existing adaptive observers may cause the parameter drifts due to disturbances even if state estimation errors remain small. To avoid the drift phenomena in the presence of bounded disturbances, several robust adaptive observers have been introduced addressing bounds in state and parameter estimates. However, it is not easy for these observers to manipulate the size of the bounds with the selection of the observer gain. In order to reduce estimation errors, this paper introduces the 2 gain minimization problem in the adaptive observer structure, which minimizes the 2 gain between disturbances and estimation errors. The stability condition of the adaptive observer is reformulated as a linear matrix inequality, and the observer gain is optimally chosen by solving the convex optimization problem. The estimation performance is demonstrated through a numerical example.
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