Boundary adaptive observer design for semilinear hyperbolic rolling contact ODE-PDE systems with uncertain friction
It provides a theoretical framework for simultaneous state and parameter estimation in a specific class of coupled ODE-PDE systems with uncertain friction, relevant to rolling contact applications.
This paper designs an adaptive observer for semilinear hyperbolic rolling contact ODE-PDE systems with uncertain friction, achieving exponential convergence of state and parameter estimates using only boundary measurements. Simulations on a road vehicle dynamics example demonstrate effectiveness.
This paper presents an adaptive observer design for semilinear hyperbolic rolling contact ODE-PDE systems with uncertain friction characteristics parameterized by a matrix of unknown coefficients appearing in the nonlinear (and possibly non-smooth) PDE source terms. Under appropriate assumptions of forward completeness and boundary sensing, an adaptive observer is synthesized to simultaneously estimate the lumped and distributed states, as well as the uncertain friction parameters, using only boundary measurements. The observer combines a finite-dimensional parameter estimator with an infinite-dimensional description of the state error dynamics, and achieves exponential convergence under persistent excitation. The effectiveness of the proposed design is demonstrated in simulation by considering a relevant example borrowed from road vehicle dynamics.