Abstract
A multiple model based observer/estimator for the estimation of parameters is used to reset the parameter estimation in a conventional Lyapunov based nonlinear adaptive controller. The advantage of combining both approaches is that the performance of the controller with respect to disturbances can be considerably improved while a reduced controller gain will increase the robustness of the approach with respect to noise and unmodeled dynamics. Several alternative resetting criteria are developed based on a control Lyapunov function.
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Kalkkuhl, J., Johansen, T.A., Lüdemann, J., Queda, A. (2001). Nonlinear Adaptive Backstepping with Estimator Resetting Using Multiple Observers. In: Di Benedetto, M.D., Sangiovanni-Vincentelli, A. (eds) Hybrid Systems: Computation and Control. HSCC 2001. Lecture Notes in Computer Science, vol 2034. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45351-2_27
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DOI: https://doi.org/10.1007/3-540-45351-2_27
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