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Adaptive Observer Design for Nonlinear Interconnected Systems by the Application of LaSalle's Theorem

Mohamed, Mokhtar, Yan, Xinggang, Mao, Zehui, Jiang, Bin (2020) Adaptive Observer Design for Nonlinear Interconnected Systems by the Application of LaSalle's Theorem. International Journal of Adaptive Control and Signal Processing, . ISSN 0890-6327. (doi:10.1002/acs.3160) (KAR id:83550)

Abstract

In this article, a class of nonlinear interconnected systems with uncertain time varying parameters (TVPs) is considered. Both the interconnections and the isolated subsystems are nonlinear. The differences between the unknown TVPs and their corresponding nominal values are assumed to be bounded where the nominal value is not required to be known. A dynamical system is proposed and then, the error systems between the original interconnected system and the designed dynamical system are analysed. A set of conditions is developed such that the augmented systems formed by the error dynamical systems and the designed adaptive laws are uniformly ultimately bounded. Specifically, the state observation errors are asymptotically convergent to zero based on the LaSalle's Theorem while the parameter estimation errors are uniformly ultimately bounded, and the classical condition of persistent excitation is not required. A case study on a coupled inverted pendulum system is presented to demonstrate the developed methodology, and simulation shows that the proposed approach is effective and practicable.

Item Type: Article
DOI/Identification number: 10.1002/acs.3160
Uncontrolled keywords: Nonlinear Interconnected Systems, Adaptive Observers, Time Varying Parameters, Uniformly Ultimately Boundedness
Subjects: T Technology
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Depositing User: Xinggang Yan
Date Deposited: 19 Oct 2020 14:25 UTC
Last Modified: 08 Dec 2022 23:54 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/83550 (The current URI for this page, for reference purposes)

University of Kent Author Information

Mohamed, Mokhtar.

Creator's ORCID:
CReDIT Contributor Roles:

Yan, Xinggang.

Creator's ORCID: https://orcid.org/0000-0003-2217-8398
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