Adaptive observers for nonlinearly parameterized systems subjected to parametric constraints

TL;DR

This paper develops adaptive observers for nonlinear parameter systems with constraints, utilizing universal observers and small-gain theorem, demonstrated through an example.

Contribution

It introduces a novel adaptive observer design method for nonlinear parameter systems with constraints, combining universal observers and small-gain theorem techniques.

Findings

Successfully designed adaptive observers for constrained nonlinear systems

Validated the approach with a practical example

Ensured stability and convergence of the observer estimates

Abstract

We consider the problem of adaptive observer design in the settings when the system is allowed to be nonlinear in the parameters, and furthermore they are to satisfy additional feasibility constraints. A solution to the problem is proposed that is based on the idea of universal observers and non-uniform small-gain theorem. The procedure is illustrated with an example.