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

Rotondo, Damiano; Reppa, V.; Puig, Vicenc; Nejjari, Fatiha

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

Conference paper (2014)

Authors

Damiano Rotondo Universitat Politecnica de Catalunya

V. Reppa University of Cyprus

Vicenc Puig Universitat Politecnica de Catalunya

Fatiha Nejjari Universitat Politecnica de Catalunya

Affiliation

External organisation

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

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Published Date

2014

Language

English

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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.