Adaptive Robust Observer Design For A Class Of Uncertain Nonlinear Systems

QingWei Jia, FuCai Wang
2007 2007 International Conference on Mechatronics and Automation  
In this paper a adaptive predictive observer design methodology for a class of uncertain nonlinear systems in the presence of unknown nonlinearity and bounded disturbances is proposed. At first, the tracking error is approximated in the receding horizon by its Taylor series expansion. Then an analytic solution to the predictive algorithm is developed and a predictive observer is proposed. The gain vector of observer between any gain vector that satisfies stability conditions, optimally chosen
more » ... predictive algorithm. The universal approximation property of neural networks is used in the predictive technique to develop adaptive predictive observer that ensure asymptotic convergence of the state estimation error to zero. Simulation results show the effectiveness of the proposed method in the state observation.
doi:10.1109/icma.2007.4304174 fatcat:36davx2k55gtxeaima5otel7k4