A disturbance-decoupled adaptive observer and its application to faulty parameters estimation of a hydraulically driven elevator

摘要

In this paper, a disturbance-decoupled adaptive observer is designed for the joint state-parameter estimation of a system with unknown disturbance inputs. The proposed Robust Adaptive Observer (RAO) integrates an Unknown Input Observer (UIO) to the parameter estimation process, where the unknown parameters are estimated as extended states of the system. An auxiliary input is added to the UIO in coping with the estimation errors so that the exponential stability and convergence of the observer are guaranteed. The proposed observer is applied to a hydraulically driven elevator for the faulty parameter estimation. The simulation results show the accuracy of the observer and its robustness to both disturbances and measurement noises. Copyright © 2010 John Wiley & Sons, Ltd.