The design of an adaptive observer for a class of multi‐input multi‐output Lipschitz nonlinear systems with uncertainties and multirated outputs is proposed in this paper. The sampling instants of the different outputs can be asynchronous and irregular. The exponential convergence of the proposed observer is proved with the help of a Lyapunov approach. The stability is ensured, provided that some conditions, including a persistent excitation condition and a maximum value condition on the sample rate of each output, are verified. The performances of the observer are illustrated through simulations of the attitude estimation problem using sensors from an inertial measurement unit and considering gyro bias.

中文翻译：

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一类具有多速率输出和不确定性的Lipschitz非线性系统的自适应观测器设计：在陀螺仪偏差姿态估计中的应用

本文提出了一类具有不确定性和多速率输出的多输入多输出Lipschitz非线性系统的自适应观测器设计。不同输出的采样时刻可以是异步的，也可以是不规则的。借助Lyapunov方法证明了提出的观测器的指数收敛性。只要验证了某些条件（包括持续激励条件和每个输出的采样率上的最大值条件），就可以确保稳定性。通过使用来自惯性测量单元的传感器并考虑陀螺仪偏置，通过姿态估计问题的模拟来说明观察者的表现。