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Conference Papers Year : 2020

State estimation for a locally unobservable parameter-varying system: one gradient-based and one switched solutions

Abstract

This work is motivated by a case study of a mechanical system where a sensor bias yields loose of observability for certain values of time-varying parameters. Two solutions are proposed: a nonlinear gradient-based observer that requires the persistency of excitation of the system trajectories and a switched observer that imposes an average dwell-time requirement. For both observers, asymptotic convergence of the estimates is proven. The theoretical results are supported by illustrative numerical simulations.
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Dates and versions

hal-02634576 , version 1 (27-05-2020)

Identifiers

  • HAL Id : hal-02634576 , version 1

Cite

Stanislav Aranovskiy, Denis Efimov, Dmitry Sokolov, Jian Wang, Igor Ryadchikov, et al.. State estimation for a locally unobservable parameter-varying system: one gradient-based and one switched solutions. IFAC 2020 - 21rst IFAC World Congress, Jul 2020, Berlin, Germany. ⟨hal-02634576⟩
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