Adaptive Observers for Nonlinearly Parameterized Systems Subjected to Parametric Constraints

We consider the problem of adaptive observer design in the settings when the system is allowed to be nonlinear in the parameters, and furthermore they are to satisfy additional feasibility constraints. A solution to the problem is proposed that is based on the idea of employing observers comprising of an exponentially converging part coupled with exploratory dynamics (cf. Tyukin et al. (2013)). The procedure is illustrated with an example.