Е-Публикации
Технически университет - София

Abstract: The paper presents a new approach for nonlinear adaptive state observer design for nonlinear systems in adaptive observer canonical form. The adaptive observer and parameter estimator presented in the paper are globally uniformly exponentially stable. This is achieved by introducing a data accumulation process for the unknown parameters of the objective nonlinear system. This process is exponentially stable conditioned by the defined parametric identifiability criterion. The performance specifications of the nonlinear adaptive observer, parameter estimator, and data accumulation dynamics introduced are controllable. The approach is applied to a single-link flexible joint robot arm for illustration.

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