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《Adaptive Observers for Single Output Nonlinear Systems》.pdf
1054 IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 35, NO. 9, SEPTEMBER 1990
fining the filter, the process of choosing the initial covariances is Adaptive Observers for Single Output Nonlinear Systems
somewhat heuristic. In the absence of a standard for force sensor statis-
tics, it was found that Ro = (10-s)Z4x4 and Qpo = (0.00s)19.9 gave RICCARDO MARINO
good results, even when measurement noise of variance 4 = 0.1 was
used. An Ro value too large causes slow estimate convergence because
Absmct-An adaptive version of the nonlinear observer obtained in
of the doubt it casts on measurement readings, and an too small re-
111is presented. As an intermediate step, necessary and sufficient condi-
sults in invertibility problems in the measurement update equations. The tions are given for a nonlinear system to be transformed by state-space
value Qpo is chosen small to avoid a poor transient response, but not so
change of coordinates into the special adaptive observer form used in
small that convergence is slow. It was found that values between 0.1 and
[2] to design adaptive observers.
O.ooO1 all provided similar transient characteristics. Because no physical
force sensor is available for this study, it is desired that the tuned filter I. INTRODUCTION
perform well subject to a ra
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