Adaptive polytopic estimation for nonlinear systems under bounded disturbances using moving horizon

TL;DR

This paper presents an adaptive polytopic estimator for nonlinear systems with bounded disturbances, integrating moving horizon and dual estimation techniques to ensure stability and convergence.

Contribution

It extends moving horizon estimation methods from LTI systems to polytopic LPV systems with a focus on robustness and convergence guarantees.

Findings

Guarantees robust stability under bounded disturbances

Ensures convergence to true states and parameters

Extends LTI estimation results to LPV systems

Abstract

This paper introduces an adaptive polytopic estimator design for nonlinear systems under bounded disturbances combining moving horizon and dual estimation techniques. It extends the moving horizon estimation results for LTI systems to polytopic LPV systems. The design and necessary conditions to guarantee the robust stability and convergence to the true state and parameters for the case of bounded disturbances and convergence to the true system and state are given for the vanishing disturbances.