Event detail

CEDC seminar: Adaptive state observers using dynamic regressor extension and mixing

| 11:00 AM - 12:15 PM
Room Number: 2507
North Classroom
1200 Larimer Street
Denver, CO

Dr. Alexey Vedyakov, Ph.D.
Associate Professor,
Faculty of Control Systems and Robotics, ITMO University (Russia)

Abstract

One of the central problems in control and systems theory, that has attracted the attention of many researchers for several years is the design of observers for the systems state. The problem is particularly challenging if the system is nonlinear and some of its parameters are unknown. This task requires the development of adaptive observers, that should estimate simultaneously the parameters and the systems state.

Usually, the gradient descent-based approach to state observation and parameters estimation is used. However, in the multidimensional case, there is the limited capability to control performance and check online the necessary and sufficient persistent excitation condition. To solve these problems, dynamic regressor extension and mixing method (DREM) for parameters estimation of linear regression models was proposed. Recently a novel adaptive state observer for a class of nonlinear systems with unknown parameters was designed based on DREM.

In the seminar, the problems of online parameters estimation and states observation will be considered. The DREM will be compared with the standard gradient descent approach and least-squares estimators. The adaptive state observers design will be illustrated by examples for electromechanical systems: permanent magnet synchronous motor, induction motor, magnetic levitation system.

Bio. 
Dr. Alexey A. Vedyakov received his PhD in system analysis, data processing and control (in technical systems) in 2015 from ITMO University, St. Petersburg, Russia. He is currently an Associate Professor at the Faculty of Control Systems and Robotics at ITMO University. Dr. Vedyakov is an author and co-author of more than 30 publications in scientific journals and proceedings of conferences. His research interests include adaptive and robust control, system identification, estimation and observers design, robotic systems.

Email Address: vedyakov@itmo.ru