International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Adaptive Observer using Auto-generating B-splines

  • Published : 2007.10.31
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Abstract

This paper presents a new adaptive observer design method for a class of uncertain nonlinear systems by using spline approximation. This scheme leads to a simplified observer structure which requires only fixed number of integrations, regardless of the number of parameters to be estimated. This benefit can reduce the number of integrations of the observer filter dramatically. Moreover, the proposed adaptive observer automatically generates the required spline elements according to the varying output value and, as a result, does not requires the pre-knowledge of upper and lower bounds of the output. This is another benefit of our approach since the requirement for known output bounds have been one of the main drawbacks of practical universal approximation problems. Both of the benefits stem from the local support property, which is specific to splines.

Keywords

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