Shamaeian, Neda, Taghavifar, Hamid et Zhang, Youmin.
2025.
« Adaptive LMI-based observer for disturbed nonlinear systems with unknown Lipschitz constant ».
In Proceedings of the CSME-CFDSC-CSR 2025 International Congress (Montreal, QC, Canada, May 25-28, 2025)
Coll. « Progress in Canadian Mechanical Engineering », vol. 8.
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Résumé
This paper presents an adaptive Linear Matrix Inequality (LMI)-based observer designed for Lipschitz continuous nonlinear systems with unknown Lipschitz constants. Moreover, the observer is able to handle state dependent disturbances affecting the system dynamics. In contrast to traditional LMI-based methods that rely on prior knowledge of the Lipschitz constant or bounds on nonlinear functions for observer design, this paper assumes no such information. Instead, the proposed observer adaptively adjusts its gain to accommodate the disturbances and the unknown Lipschitz constant, which can be difficult or even impossible to determine for complex and highly nonlinear functions. The adaptability makes the observer particularly useful for applications where precise knowledge of nonlinear system characteristics is lacking. The observer's asymptotic stability is verified using the Lyapunov stability approach. Finally, the proposed observer is applied to a robotic application, where it is shown to provide accurate state estimation through simulations.
| Type de document: | Compte rendu de conférence |
|---|---|
| Éditeurs: | Éditeurs ORCID Hof, Lucas A. NON SPÉCIFIÉ Di Labbio, Giuseppe NON SPÉCIFIÉ Tahan, Antoine NON SPÉCIFIÉ Sanjosé, Marlène NON SPÉCIFIÉ Lalonde, Sébastien NON SPÉCIFIÉ Demarquette, Nicole R. NON SPÉCIFIÉ |
| Date de dépôt: | 18 déc. 2025 15:32 |
| Dernière modification: | 18 déc. 2025 15:32 |
| URI: | https://espace2.etsmtl.ca/id/eprint/32500 |
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