State estimation for a class of nonlinear time-varying uncertain system under multiharmonic disturbance

TL;DR

This paper develops a novel observer design for nonlinear, time-varying systems with uncertainties and multiharmonic disturbances, enabling finite-time estimation without output derivatives, demonstrated via simulation.

Contribution

It introduces a new observer synthesis method that estimates states, parameters, and disturbances in nonlinear time-varying systems without needing output derivatives.

Findings

Effective state and disturbance estimation demonstrated in simulations

Finite-time convergence of the proposed observer

Reduced measurement requirements compared to traditional methods

Abstract

The paper considers the observer synthesis for nonlinear, time-varying plants with uncertain parameters under multiharmonic disturbance. It is assumed that the relative degree of the plant is known, the regressor linearly depends on the state vector and may have a nonlinear relationship with the output signal. The proposed solution consists of three steps. Initially, an unknown input state observer is synthesized. This observer, however, necessitates the measurement of output derivatives equal to the plant's relative degree. To relax this limitation, an alternative representation of the observer is introduced. Further, based on this observer, the unknown parameters and disturbances are reconstructed using an autoregression model and the dynamic regressor extension and mixing (DREM) approach. This approach allows the estimates to be obtained in a finite time. Finally, based on these estimates, an observer has been constructed that does not require measurements of the output derivatives. The effectiveness and efficiency of this solution are demonstrated through a computer simulation.