Е-Публикации
Технически университет - София

Abstract: The paper presents a new approach for nonlinear adaptive observer design for nonlinear systems in reduced generalized observer canonical form. Parametric identifiability criterion and the stable data accumulation concepts are introduced. Global uniform asymptotic state and exponential parameter estimation are provided with controllable performance specifications. The approach is compatible with other nonlinear adaptive design methods. A nonlinear adaptive state observer and adaptive unknown parameter estimator of gradient type are designed for a single-link flexible joint manipulator providing asymptotic state estimation and exponential parameter estimation which is illustrated by a dynamic simulation.

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